# 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: Borderlands2007_4v4.rte # Mission File: 20070711MAUV_2.cfg # Distance: 47330.256215 (m) # Estimated Time: 33968 (s) 9.436 (hr) # Abort Time: 33501 (s) # set to 9 hrs = 32400 sec # Max battery life: 36000 (s) # Safety margin: 1800 (s) # Ascend time: 698 (s) # Way Points: 13 # Route Points: 473 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 770 (m) # Abort Vehicle Depth: 800 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 100 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 0.583 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -117.634492 33.347062 -84.354574 0.000000 1 # 1 -117.654251 33.331812 -304.952067 2497.979701 1 # 2 -117.710309 33.285205 -767.783854 9842.094086 1 # 3 -117.709092 33.284274 -768.986328 9995.367540 1 # 4 -117.653034 33.330882 -314.327108 17339.519480 1 # 5 -117.651960 33.330023 -334.294657 17477.586408 1 # 6 -117.707946 33.283272 -770.020508 24828.227103 1 # 7 -117.706873 33.282198 -770.682943 24983.716685 1 # 8 -117.650887 33.328949 -420.670329 32334.400909 1 # 9 -117.649741 33.327946 -398.479004 32488.399705 1 # 10 -117.705799 33.281339 -770.978516 39832.670679 1 # 11 -117.704582 33.280408 -771.347005 39985.947680 1 # 12 -117.648524 33.327016 -339.195475 47330.256215 1 # # A total of 473 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 32400; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 770.000000; abortDepth = 800.000000; minAltitude = 50.000000; abortAltitude = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 698; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 11.280043 meters # Minimum depth: 339.195475 meters looking forward 100.000000 meters along route # Maximum depth: 339.679036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 289.195475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.327016; longitude = -117.648524; captureRadius = 10; duration = 11; # abortOnTimeout = True; initialDepth = 289.195475; finalDepth = 289.195475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:289.195475 # Seafloor depth:-339.195475 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.520596 meters # Minimum depth: 340.019431 meters looking forward 100.000000 meters along route # Maximum depth: 353.075767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 290.019431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.326944; longitude = -117.648610; captureRadius = 10; duration = 101; initialDepth = 290.019431; finalDepth = 289.195475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:290.019431 # Seafloor depth:-340.019431 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.520978 meters # Minimum depth: 357.923997 meters looking forward 100.000000 meters along route # Maximum depth: 377.242202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 307.923997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.326300; longitude = -117.649385; captureRadius = 10; duration = 101; initialDepth = 307.923997; finalDepth = 290.019431; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:307.923997 # Seafloor depth:-357.923997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.521362 meters # Minimum depth: 378.076277 meters looking forward 100.000000 meters along route # Maximum depth: 387.536444 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.076277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.325655; longitude = -117.650160; captureRadius = 10; duration = 101; initialDepth = 328.076277; finalDepth = 307.923997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:328.076277 # Seafloor depth:-378.076277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.521745 meters # Minimum depth: 391.198420 meters looking forward 100.000000 meters along route # Maximum depth: 401.147661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 341.198420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.325011; longitude = -117.650935; captureRadius = 10; duration = 101; initialDepth = 341.198420; finalDepth = 328.076277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:341.19842 # Seafloor depth:-391.198420 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.522128 meters # Minimum depth: 402.586874 meters looking forward 100.000000 meters along route # Maximum depth: 413.649170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 352.586874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.324367; longitude = -117.651710; captureRadius = 10; duration = 101; initialDepth = 352.586874; finalDepth = 341.198420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:352.586874 # Seafloor depth:-402.586874 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.522511 meters # Minimum depth: 413.704956 meters looking forward 100.000000 meters along route # Maximum depth: 427.010830 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 363.704956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323722; longitude = -117.652485; captureRadius = 10; duration = 101; initialDepth = 363.704956; finalDepth = 352.586874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:363.704956 # Seafloor depth:-413.704956 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.522894 meters # Minimum depth: 427.464663 meters looking forward 100.000000 meters along route # Maximum depth: 431.981149 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.464663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323078; longitude = -117.653260; captureRadius = 10; duration = 101; initialDepth = 377.464663; finalDepth = 363.704956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.978537 # Actual altitude: 52.978537 # Commanded vehicle depth:377.464663 # Seafloor depth:-430.443200 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.19; MB_Bottom_Detect_Filter_Max_Range = 211.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.523276 meters # Minimum depth: 433.166991 meters looking forward 100.000000 meters along route # Maximum depth: 441.003829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.166991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.322434; longitude = -117.654035; captureRadius = 10; duration = 101; initialDepth = 383.166991; finalDepth = 377.464663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.978537 # Actual altitude: 52.978537 # Commanded vehicle depth:383.166991 # Seafloor depth:-433.166991 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.19; MB_Bottom_Detect_Filter_Max_Range = 211.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.523660 meters # Minimum depth: 443.027532 meters looking forward 100.000000 meters along route # Maximum depth: 448.805997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.027532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.321789; longitude = -117.654810; captureRadius = 10; duration = 101; initialDepth = 393.027532; finalDepth = 383.166991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.326752 # Actual altitude: 51.326752 # Commanded vehicle depth:393.027532 # Seafloor depth:-444.354284 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.524043 meters # Minimum depth: 449.429067 meters looking forward 100.000000 meters along route # Maximum depth: 454.435156 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.429067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.321145; longitude = -117.655585; captureRadius = 10; duration = 101; initialDepth = 399.429067; finalDepth = 393.027532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.326752 # Actual altitude: 51.326752 # Commanded vehicle depth:399.429067 # Seafloor depth:-449.429067 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.524426 meters # Minimum depth: 454.720508 meters looking forward 100.000000 meters along route # Maximum depth: 457.753190 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.720508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.320501; longitude = -117.656360; captureRadius = 10; duration = 101; initialDepth = 404.720508; finalDepth = 399.429067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:404.720508 # Seafloor depth:-454.720508 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.524809 meters # Minimum depth: 458.933579 meters looking forward 100.000000 meters along route # Maximum depth: 464.169208 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 408.933579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.319856; longitude = -117.657135; captureRadius = 10; duration = 101; initialDepth = 408.933579; finalDepth = 404.720508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:408.933579 # Seafloor depth:-458.933579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 102.216723 meters # Minimum depth: 465.164774 meters looking forward 100.000000 meters along route # Maximum depth: 470.444276 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 415.164774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.319212; longitude = -117.657910; captureRadius = 10; duration = 102; initialDepth = 415.164774; finalDepth = 408.933579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:415.164774 # Seafloor depth:-465.164774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 100.834044 meters # Minimum depth: 470.496220 meters looking forward 100.000000 meters along route # Maximum depth: 482.537218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 420.496220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318563; longitude = -117.658690; captureRadius = 10; duration = 100; initialDepth = 420.496220; finalDepth = 415.164774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:420.49622 # Seafloor depth:-470.496220 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.525958 meters # Minimum depth: 484.440266 meters looking forward 100.000000 meters along route # Maximum depth: 498.516738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 434.440266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317923; longitude = -117.659460; captureRadius = 10; duration = 101; initialDepth = 434.440266; finalDepth = 420.496220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:434.440266 # Seafloor depth:-484.440266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.526342 meters # Minimum depth: 499.327163 meters looking forward 100.000000 meters along route # Maximum depth: 512.260286 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 449.327163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317279; longitude = -117.660235; captureRadius = 10; duration = 101; initialDepth = 449.327163; finalDepth = 434.440266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:449.327163 # Seafloor depth:-499.327163 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.526724 meters # Minimum depth: 516.097406 meters looking forward 100.000000 meters along route # Maximum depth: 533.786707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.097406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.316635; longitude = -117.661010; captureRadius = 10; duration = 101; initialDepth = 466.097406; finalDepth = 449.327163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:466.097406 # Seafloor depth:-516.097406 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.527107 meters # Minimum depth: 535.322541 meters looking forward 100.000000 meters along route # Maximum depth: 550.601310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.322541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315990; longitude = -117.661785; captureRadius = 10; duration = 101; initialDepth = 485.322541; finalDepth = 466.097406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:485.322541 # Seafloor depth:-535.322541 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.527491 meters # Minimum depth: 550.653377 meters looking forward 100.000000 meters along route # Maximum depth: 557.444753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.653377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315346; longitude = -117.662560; captureRadius = 10; duration = 101; initialDepth = 500.653377; finalDepth = 485.322541; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:500.653377 # Seafloor depth:-550.653377 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.527874 meters # Minimum depth: 557.970390 meters looking forward 100.000000 meters along route # Maximum depth: 562.645019 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.970390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314702; longitude = -117.663335; captureRadius = 10; duration = 101; initialDepth = 507.970390; finalDepth = 500.653377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:507.97039 # Seafloor depth:-557.970390 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.528256 meters # Minimum depth: 563.020603 meters looking forward 100.000000 meters along route # Maximum depth: 568.218326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.020603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314057; longitude = -117.664110; captureRadius = 10; duration = 101; initialDepth = 513.020603; finalDepth = 507.970390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:513.020603 # Seafloor depth:-563.020603 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.528640 meters # Minimum depth: 572.781791 meters looking forward 100.000000 meters along route # Maximum depth: 578.730261 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.781791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.313413; longitude = -117.664885; captureRadius = 10; duration = 101; initialDepth = 522.781791; finalDepth = 513.020603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:522.781791 # Seafloor depth:-572.781791 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.529023 meters # Minimum depth: 577.935714 meters looking forward 100.000000 meters along route # Maximum depth: 580.320925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.935714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312769; longitude = -117.665660; captureRadius = 10; duration = 101; initialDepth = 527.935714; finalDepth = 522.781791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:527.935714 # Seafloor depth:-577.935714 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.529407 meters # Minimum depth: 580.360228 meters looking forward 100.000000 meters along route # Maximum depth: 586.848217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.360228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312124; longitude = -117.666435; captureRadius = 10; duration = 101; initialDepth = 530.360228; finalDepth = 527.935714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:530.360228 # Seafloor depth:-580.360228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.529789 meters # Minimum depth: 587.896159 meters looking forward 100.000000 meters along route # Maximum depth: 591.381006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.896159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311480; longitude = -117.667210; captureRadius = 10; duration = 101; initialDepth = 537.896159; finalDepth = 530.360228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:537.896159 # Seafloor depth:-587.896159 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.530172 meters # Minimum depth: 591.308311 meters looking forward 100.000000 meters along route # Maximum depth: 594.588224 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.308311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.310836; longitude = -117.667985; captureRadius = 10; duration = 101; initialDepth = 541.308311; finalDepth = 537.896159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:541.308311 # Seafloor depth:-591.308311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.530556 meters # Minimum depth: 595.436108 meters looking forward 100.000000 meters along route # Maximum depth: 600.609459 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.436108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.310191; longitude = -117.668760; captureRadius = 10; duration = 101; initialDepth = 545.436108; finalDepth = 541.308311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:545.436108 # Seafloor depth:-595.436108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.530939 meters # Minimum depth: 600.734719 meters looking forward 100.000000 meters along route # Maximum depth: 605.810871 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.734719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309547; longitude = -117.669535; captureRadius = 10; duration = 101; initialDepth = 550.734719; finalDepth = 545.436108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:550.734719 # Seafloor depth:-600.734719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.531322 meters # Minimum depth: 606.097022 meters looking forward 100.000000 meters along route # Maximum depth: 612.133680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.097022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308903; longitude = -117.670310; captureRadius = 10; duration = 101; initialDepth = 556.097022; finalDepth = 550.734719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:556.097022 # Seafloor depth:-606.097022 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.531705 meters # Minimum depth: 614.192360 meters looking forward 100.000000 meters along route # Maximum depth: 622.801297 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.192360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308258; longitude = -117.671085; captureRadius = 10; duration = 101; initialDepth = 564.192360; finalDepth = 556.097022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:564.19236 # Seafloor depth:-614.192360 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.532089 meters # Minimum depth: 623.407434 meters looking forward 100.000000 meters along route # Maximum depth: 626.287932 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.407434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.307614; longitude = -117.671860; captureRadius = 10; duration = 101; initialDepth = 573.407434; finalDepth = 564.192360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:573.407434 # Seafloor depth:-623.407434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.532471 meters # Minimum depth: 620.714677 meters looking forward 100.000000 meters along route # Maximum depth: 623.181540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.714677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306970; longitude = -117.672635; captureRadius = 10; duration = 101; initialDepth = 570.714677; finalDepth = 573.407434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.466863 # Actual altitude: 52.466863 # Commanded vehicle depth:570.714677 # Seafloor depth:-623.181540 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.99; MB_Bottom_Detect_Filter_Max_Range = 209.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.532855 meters # Minimum depth: 619.982394 meters looking forward 100.000000 meters along route # Maximum depth: 622.404994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.982394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306325; longitude = -117.673410; captureRadius = 10; duration = 101; initialDepth = 569.982394; finalDepth = 570.714677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.466863 # Actual altitude: 52.466863 # Commanded vehicle depth:569.982394 # Seafloor depth:-621.030373 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.99; MB_Bottom_Detect_Filter_Max_Range = 209.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.533238 meters # Minimum depth: 620.944599 meters looking forward 100.000000 meters along route # Maximum depth: 623.143784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.944599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305681; longitude = -117.674185; captureRadius = 10; duration = 101; initialDepth = 570.944599; finalDepth = 569.982394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.437923 # Actual altitude: 51.437923 # Commanded vehicle depth:570.944599 # Seafloor depth:-622.382522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.533622 meters # Minimum depth: 617.510908 meters looking forward 100.000000 meters along route # Maximum depth: 620.599747 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 567.510908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305036; longitude = -117.674960; captureRadius = 10; duration = 101; initialDepth = 567.510908; finalDepth = 570.944599; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.088839 # Actual altitude: 53.088839 # Commanded vehicle depth:567.510908 # Seafloor depth:-620.599747 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.24; MB_Bottom_Detect_Filter_Max_Range = 212.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 102.484942 meters # Minimum depth: 614.070421 meters looking forward 100.000000 meters along route # Maximum depth: 617.243893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.070421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.304392; longitude = -117.675735; captureRadius = 10; duration = 102; initialDepth = 564.070421; finalDepth = 567.510908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1734719999999 # Actual altitude: 53.1734719999999 # Commanded vehicle depth:564.070421 # Seafloor depth:-617.243893 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 212.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 100.583450 meters # Minimum depth: 612.931646 meters looking forward 100.000000 meters along route # Maximum depth: 614.062797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.931646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303742; longitude = -117.676517; captureRadius = 10; duration = 100; initialDepth = 562.931646; finalDepth = 564.070421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1734719999999 # Actual altitude: 53.1734719999999 # Commanded vehicle depth:562.931646 # Seafloor depth:-614.062797 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 212.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.534771 meters # Minimum depth: 610.994641 meters looking forward 100.000000 meters along route # Maximum depth: 613.771728 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.994641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303103; longitude = -117.677285; captureRadius = 10; duration = 101; initialDepth = 560.994641; finalDepth = 562.931646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7770870000001 # Actual altitude: 52.7770870000001 # Commanded vehicle depth:560.994641 # Seafloor depth:-613.771728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.11; MB_Bottom_Detect_Filter_Max_Range = 211.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.535155 meters # Minimum depth: 609.556371 meters looking forward 100.000000 meters along route # Maximum depth: 613.597183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.556371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302459; longitude = -117.678060; captureRadius = 10; duration = 101; initialDepth = 559.556371; finalDepth = 560.994641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7770870000001 # Actual altitude: 52.7770870000001 # Commanded vehicle depth:559.556371 # Seafloor depth:-610.815829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.11; MB_Bottom_Detect_Filter_Max_Range = 211.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.535537 meters # Minimum depth: 619.646597 meters looking forward 100.000000 meters along route # Maximum depth: 641.182162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.646597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.301815; longitude = -117.678835; captureRadius = 10; duration = 101; initialDepth = 569.646597; finalDepth = 559.556371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.259458 # Actual altitude: 51.259458 # Commanded vehicle depth:569.646597 # Seafloor depth:-619.646597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 205.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.535921 meters # Minimum depth: 643.597014 meters looking forward 100.000000 meters along route # Maximum depth: 663.145670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.597014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.301170; longitude = -117.679610; captureRadius = 10; duration = 101; initialDepth = 593.597014; finalDepth = 569.646597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:593.597014 # Seafloor depth:-643.597014 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.536305 meters # Minimum depth: 663.189873 meters looking forward 100.000000 meters along route # Maximum depth: 674.170956 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 613.189873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.300526; longitude = -117.680385; captureRadius = 10; duration = 101; initialDepth = 613.189873; finalDepth = 593.597014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:613.189873 # Seafloor depth:-663.189873 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.536687 meters # Minimum depth: 672.224833 meters looking forward 100.000000 meters along route # Maximum depth: 673.857190 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.224833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.299882; longitude = -117.681160; captureRadius = 10; duration = 101; initialDepth = 622.224833; finalDepth = 613.189873; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.795505 # Actual altitude: 50.795505 # Commanded vehicle depth:622.224833 # Seafloor depth:-673.020338 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.537071 meters # Minimum depth: 670.642121 meters looking forward 100.000000 meters along route # Maximum depth: 672.714163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.642121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.299237; longitude = -117.681935; captureRadius = 10; duration = 101; initialDepth = 620.642121; finalDepth = 622.224833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.072042 # Actual altitude: 52.072042 # Commanded vehicle depth:620.642121 # Seafloor depth:-672.714163 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.537454 meters # Minimum depth: 669.360666 meters looking forward 100.000000 meters along route # Maximum depth: 672.272102 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.360666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.298593; longitude = -117.682710; captureRadius = 10; duration = 101; initialDepth = 619.360666; finalDepth = 620.642121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.072042 # Actual altitude: 52.072042 # Commanded vehicle depth:619.360666 # Seafloor depth:-670.848886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.537838 meters # Minimum depth: 673.438676 meters looking forward 100.000000 meters along route # Maximum depth: 687.461763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.438676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.297949; longitude = -117.683485; captureRadius = 10; duration = 101; initialDepth = 623.438676; finalDepth = 619.360666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.48822 # Actual altitude: 51.48822 # Commanded vehicle depth:623.438676 # Seafloor depth:-673.438676 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 205.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.538221 meters # Minimum depth: 687.815960 meters looking forward 100.000000 meters along route # Maximum depth: 699.312170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 637.815960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.297304; longitude = -117.684260; captureRadius = 10; duration = 101; initialDepth = 637.815960; finalDepth = 623.438676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:637.81596 # Seafloor depth:-687.815960 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.538604 meters # Minimum depth: 697.663748 meters looking forward 100.000000 meters along route # Maximum depth: 701.238808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 647.663748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296660; longitude = -117.685035; captureRadius = 10; duration = 101; initialDepth = 647.663748; finalDepth = 637.815960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7533099999999 # Actual altitude: 52.7533099999999 # Commanded vehicle depth:647.663748 # Seafloor depth:-700.417058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.10; MB_Bottom_Detect_Filter_Max_Range = 211.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.538988 meters # Minimum depth: 696.697497 meters looking forward 100.000000 meters along route # Maximum depth: 698.176336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 646.697497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296016; longitude = -117.685810; captureRadius = 10; duration = 101; initialDepth = 646.697497; finalDepth = 647.663748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7533099999999 # Actual altitude: 52.7533099999999 # Commanded vehicle depth:646.697497 # Seafloor depth:-697.406547 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.10; MB_Bottom_Detect_Filter_Max_Range = 211.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.539371 meters # Minimum depth: 691.057916 meters looking forward 100.000000 meters along route # Maximum depth: 696.422907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.057916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.295371; longitude = -117.686585; captureRadius = 10; duration = 101; initialDepth = 641.057916; finalDepth = 646.697497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.364991 # Actual altitude: 55.364991 # Commanded vehicle depth:641.057916 # Seafloor depth:-696.422907 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.15; MB_Bottom_Detect_Filter_Max_Range = 221.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.539754 meters # Minimum depth: 686.740460 meters looking forward 100.000000 meters along route # Maximum depth: 690.969804 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 636.740460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294727; longitude = -117.687360; captureRadius = 10; duration = 101; initialDepth = 636.740460; finalDepth = 641.057916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.364991 # Actual altitude: 55.364991 # Commanded vehicle depth:636.74046 # Seafloor depth:-690.969804 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.15; MB_Bottom_Detect_Filter_Max_Range = 221.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.540138 meters # Minimum depth: 684.997132 meters looking forward 100.000000 meters along route # Maximum depth: 686.499000 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.997132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294083; longitude = -117.688135; captureRadius = 10; duration = 101; initialDepth = 634.997132; finalDepth = 636.740460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.229344 # Actual altitude: 54.229344 # Commanded vehicle depth:634.997132 # Seafloor depth:-686.499000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.69; MB_Bottom_Detect_Filter_Max_Range = 216.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.540521 meters # Minimum depth: 684.439834 meters looking forward 100.000000 meters along route # Maximum depth: 689.424280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.439834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.293438; longitude = -117.688910; captureRadius = 10; duration = 101; initialDepth = 634.439834; finalDepth = 634.997132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5018680000001 # Actual altitude: 51.5018680000001 # Commanded vehicle depth:634.439834 # Seafloor depth:-684.439834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 206.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.540905 meters # Minimum depth: 687.013334 meters looking forward 100.000000 meters along route # Maximum depth: 694.486262 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 637.013334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.292794; longitude = -117.689685; captureRadius = 10; duration = 101; initialDepth = 637.013334; finalDepth = 634.439834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8542210000001 # Actual altitude: 51.8542210000001 # Commanded vehicle depth:637.013334 # Seafloor depth:-688.867555 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.541287 meters # Minimum depth: 694.495781 meters looking forward 100.000000 meters along route # Maximum depth: 704.713422 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.495781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.292150; longitude = -117.690460; captureRadius = 10; duration = 101; initialDepth = 644.495781; finalDepth = 637.013334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8542210000001 # Actual altitude: 51.8542210000001 # Commanded vehicle depth:644.495781 # Seafloor depth:-694.495781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.541672 meters # Minimum depth: 707.166295 meters looking forward 100.000000 meters along route # Maximum depth: 715.249053 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 657.166295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.291505; longitude = -117.691234; captureRadius = 10; duration = 101; initialDepth = 657.166295; finalDepth = 644.495781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:657.166295 # Seafloor depth:-707.166295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.542055 meters # Minimum depth: 715.200190 meters looking forward 100.000000 meters along route # Maximum depth: 718.815881 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.200190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.290861; longitude = -117.692009; captureRadius = 10; duration = 101; initialDepth = 665.200190; finalDepth = 657.166295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:665.20019 # Seafloor depth:-715.200190 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.542438 meters # Minimum depth: 718.333976 meters looking forward 100.000000 meters along route # Maximum depth: 721.141245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 668.333976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.290217; longitude = -117.692784; captureRadius = 10; duration = 101; initialDepth = 668.333976; finalDepth = 665.200190; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:668.333976 # Seafloor depth:-718.333976 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 102.753211 meters # Minimum depth: 721.678828 meters looking forward 100.000000 meters along route # Maximum depth: 735.090366 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.678828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.289572; longitude = -117.693559; captureRadius = 10; duration = 102; initialDepth = 671.678828; finalDepth = 668.333976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:671.678828 # Seafloor depth:-721.678828 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 100.332816 meters # Minimum depth: 735.289113 meters looking forward 100.000000 meters along route # Maximum depth: 747.196570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.289113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.288920; longitude = -117.694344; captureRadius = 10; duration = 100; initialDepth = 685.289113; finalDepth = 671.678828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:685.289113 # Seafloor depth:-735.289113 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.543588 meters # Minimum depth: 749.325609 meters looking forward 100.000000 meters along route # Maximum depth: 755.601789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.325609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.288284; longitude = -117.695109; captureRadius = 10; duration = 101; initialDepth = 699.325609; finalDepth = 685.289113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:699.325609 # Seafloor depth:-749.325609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.543972 meters # Minimum depth: 754.099354 meters looking forward 100.000000 meters along route # Maximum depth: 755.527675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.099354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.287639; longitude = -117.695884; captureRadius = 10; duration = 101; initialDepth = 704.099354; finalDepth = 699.325609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4283210000001 # Actual altitude: 51.4283210000001 # Commanded vehicle depth:704.099354 # Seafloor depth:-755.527675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.544356 meters # Minimum depth: 753.782555 meters looking forward 100.000000 meters along route # Maximum depth: 757.830602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.782555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.286995; longitude = -117.696659; captureRadius = 10; duration = 101; initialDepth = 703.782555; finalDepth = 704.099354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4283210000001 # Actual altitude: 51.4283210000001 # Commanded vehicle depth:703.782555 # Seafloor depth:-753.782555 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.587968 meters # Minimum depth: 756.314923 meters looking forward 100.000000 meters along route # Maximum depth: 757.786722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.314923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.286351; longitude = -117.697434; captureRadius = 10; duration = 101; initialDepth = 706.314923; finalDepth = 703.782555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.471799 # Actual altitude: 51.471799 # Commanded vehicle depth:706.314923 # Seafloor depth:-757.786722 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.501893 meters # Minimum depth: 756.568274 meters looking forward 100.000000 meters along route # Maximum depth: 758.750097 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.568274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285706; longitude = -117.698210; captureRadius = 10; duration = 101; initialDepth = 706.568274; finalDepth = 706.314923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.471799 # Actual altitude: 51.471799 # Commanded vehicle depth:706.568274 # Seafloor depth:-756.568274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.545506 meters # Minimum depth: 759.177004 meters looking forward 100.000000 meters along route # Maximum depth: 761.601087 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.177004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285062; longitude = -117.698984; captureRadius = 10; duration = 101; initialDepth = 709.177004; finalDepth = 706.568274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:709.177004 # Seafloor depth:-759.177004 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.545890 meters # Minimum depth: 761.737116 meters looking forward 100.000000 meters along route # Maximum depth: 763.323956 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.737116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.284418; longitude = -117.699759; captureRadius = 10; duration = 101; initialDepth = 711.737116; finalDepth = 709.177004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:711.737116 # Seafloor depth:-761.737116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.546273 meters # Minimum depth: 763.746911 meters looking forward 100.000000 meters along route # Maximum depth: 765.217926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.746911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.283773; longitude = -117.700534; captureRadius = 10; duration = 101; initialDepth = 713.746911; finalDepth = 711.737116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:713.746911 # Seafloor depth:-763.746911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.546656 meters # Minimum depth: 765.405348 meters looking forward 100.000000 meters along route # Maximum depth: 766.873275 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.405348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.283129; longitude = -117.701309; captureRadius = 10; duration = 101; initialDepth = 715.405348; finalDepth = 713.746911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:715.405348 # Seafloor depth:-765.405348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 111.446708 meters # Minimum depth: 766.889285 meters looking forward 100.000000 meters along route # Maximum depth: 768.283742 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.889285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.282485; longitude = -117.702084; captureRadius = 10; duration = 111; initialDepth = 716.889285; finalDepth = 715.405348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:716.889285 # Seafloor depth:-766.889285 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 112.571155 meters # Minimum depth: 768.417198 meters looking forward 100.000000 meters along route # Maximum depth: 769.650485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.417198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.281777; longitude = -117.702935; captureRadius = 10; duration = 112; initialDepth = 718.417198; finalDepth = 716.889285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:718.417198 # Seafloor depth:-768.417198 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 103.190640 meters # Minimum depth: 769.939068 meters looking forward 100.000000 meters along route # Maximum depth: 771.087273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.939068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.281063; longitude = -117.703794; captureRadius = 10; duration = 103; initialDepth = 719.939068; finalDepth = 718.417198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:719.939068 # Seafloor depth:-769.939068 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 36.065253 meters # Minimum depth: 770.572870 meters looking forward 100.000000 meters along route # Maximum depth: 771.347005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.572870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.280408; longitude = -117.704582; captureRadius = 10; duration = 36; # abortOnTimeout = True; initialDepth = 720.572870; finalDepth = 719.939068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.774135 # Actual altitude: 50.774135 # Commanded vehicle depth:720.57287 # Seafloor depth:-771.347005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 117.211748 meters # Minimum depth: 770.999598 meters looking forward 100.000000 meters along route # Maximum depth: 771.259478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.999598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.280627; longitude = -117.704868; captureRadius = 10; duration = 117; initialDepth = 720.999598; finalDepth = 720.572870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.774135 # Actual altitude: 50.774135 # Commanded vehicle depth:720.999598 # Seafloor depth:-771.259478 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 11.283061 meters # Minimum depth: 770.857755 meters looking forward 100.000000 meters along route # Maximum depth: 771.130457 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.857755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.281339; longitude = -117.705799; captureRadius = 10; duration = 11; # abortOnTimeout = True; initialDepth = 720.857755; finalDepth = 720.999598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.25988 # Actual altitude: 50.25988 # Commanded vehicle depth:720.857755 # Seafloor depth:-770.978516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 201.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.547331 meters # Minimum depth: 769.773661 meters looking forward 100.000000 meters along route # Maximum depth: 770.833203 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.773661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.281411; longitude = -117.705713; captureRadius = 10; duration = 101; initialDepth = 719.773661; finalDepth = 720.857755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0595420000001 # Actual altitude: 51.0595420000001 # Commanded vehicle depth:719.773661 # Seafloor depth:-770.833203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.546948 meters # Minimum depth: 768.360187 meters looking forward 100.000000 meters along route # Maximum depth: 769.531537 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.360187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.282055; longitude = -117.704938; captureRadius = 10; duration = 101; initialDepth = 718.360187; finalDepth = 719.773661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.17135 # Actual altitude: 51.17135 # Commanded vehicle depth:718.360187 # Seafloor depth:-769.531537 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.546565 meters # Minimum depth: 767.327828 meters looking forward 100.000000 meters along route # Maximum depth: 768.260274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.327828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.282699; longitude = -117.704163; captureRadius = 10; duration = 101; initialDepth = 717.327828; finalDepth = 718.360187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.17135 # Actual altitude: 51.17135 # Commanded vehicle depth:717.327828 # Seafloor depth:-768.260274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.546181 meters # Minimum depth: 765.906103 meters looking forward 100.000000 meters along route # Maximum depth: 767.012412 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.906103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.283344; longitude = -117.703388; captureRadius = 10; duration = 101; initialDepth = 715.906103; finalDepth = 717.327828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.106309 # Actual altitude: 51.106309 # Commanded vehicle depth:715.906103 # Seafloor depth:-767.012412 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 204.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.545797 meters # Minimum depth: 764.329320 meters looking forward 100.000000 meters along route # Maximum depth: 765.716638 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.329320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.283988; longitude = -117.702613; captureRadius = 10; duration = 101; initialDepth = 714.329320; finalDepth = 715.906103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3873179999999 # Actual altitude: 51.3873179999999 # Commanded vehicle depth:714.32932 # Seafloor depth:-765.716638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.545413 meters # Minimum depth: 762.912865 meters looking forward 100.000000 meters along route # Maximum depth: 764.281044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.912865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.284632; longitude = -117.701838; captureRadius = 10; duration = 101; initialDepth = 712.912865; finalDepth = 714.329320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3873179999999 # Actual altitude: 51.3873179999999 # Commanded vehicle depth:712.912865 # Seafloor depth:-764.281044 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.545031 meters # Minimum depth: 760.772467 meters looking forward 100.000000 meters along route # Maximum depth: 762.529627 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.772467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285277; longitude = -117.701063; captureRadius = 10; duration = 101; initialDepth = 710.772467; finalDepth = 712.912865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.75716 # Actual altitude: 51.75716 # Commanded vehicle depth:710.772467 # Seafloor depth:-762.529627 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 207.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.544646 meters # Minimum depth: 759.320716 meters looking forward 100.000000 meters along route # Maximum depth: 760.838341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.320716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285921; longitude = -117.700288; captureRadius = 10; duration = 101; initialDepth = 709.320716; finalDepth = 710.772467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.75716 # Actual altitude: 51.75716 # Commanded vehicle depth:709.320716 # Seafloor depth:-760.660687 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 207.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.544263 meters # Minimum depth: 754.126490 meters looking forward 100.000000 meters along route # Maximum depth: 758.639062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.126490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.286565; longitude = -117.699513; captureRadius = 10; duration = 101; initialDepth = 704.126490; finalDepth = 709.320716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.512572 # Actual altitude: 54.512572 # Commanded vehicle depth:704.12649 # Seafloor depth:-758.639062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.81; MB_Bottom_Detect_Filter_Max_Range = 218.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.543880 meters # Minimum depth: 743.218538 meters looking forward 100.000000 meters along route # Maximum depth: 752.827738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.218538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.287210; longitude = -117.698738; captureRadius = 10; duration = 101; initialDepth = 693.218538; finalDepth = 704.126490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.6092 # Actual altitude: 59.6092 # Commanded vehicle depth:693.218538 # Seafloor depth:-752.827738 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.84; MB_Bottom_Detect_Filter_Max_Range = 238.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 178.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.543496 meters # Minimum depth: 738.678207 meters looking forward 100.000000 meters along route # Maximum depth: 742.877254 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.678207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.287854; longitude = -117.697963; captureRadius = 10; duration = 101; initialDepth = 688.678207; finalDepth = 693.218538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.6092 # Actual altitude: 59.6092 # Commanded vehicle depth:688.678207 # Seafloor depth:-742.877254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.84; MB_Bottom_Detect_Filter_Max_Range = 238.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 178.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.543113 meters # Minimum depth: 740.047072 meters looking forward 100.000000 meters along route # Maximum depth: 741.058455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.047072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.288498; longitude = -117.697188; captureRadius = 10; duration = 101; initialDepth = 690.047072; finalDepth = 688.678207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.199047 # Actual altitude: 54.199047 # Commanded vehicle depth:690.047072 # Seafloor depth:-740.047072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.68; MB_Bottom_Detect_Filter_Max_Range = 216.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 102.234376 meters # Minimum depth: 729.222407 meters looking forward 100.000000 meters along route # Maximum depth: 740.380546 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.222407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.289143; longitude = -117.696413; captureRadius = 10; duration = 102; initialDepth = 679.222407; finalDepth = 690.047072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.158139 # Actual altitude: 61.158139 # Commanded vehicle depth:679.222407 # Seafloor depth:-740.380546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 244.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.46; MB_Bottom_Detect_Filter_Max_Range = 244.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 183.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 100.850698 meters # Minimum depth: 717.685737 meters looking forward 100.000000 meters along route # Maximum depth: 729.104829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 667.685737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.289792; longitude = -117.695632; captureRadius = 10; duration = 100; initialDepth = 667.685737; finalDepth = 679.222407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.419092 # Actual altitude: 61.419092 # Commanded vehicle depth:667.685737 # Seafloor depth:-729.104829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 245.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.57; MB_Bottom_Detect_Filter_Max_Range = 245.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 184.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.541962 meters # Minimum depth: 708.912286 meters looking forward 100.000000 meters along route # Maximum depth: 715.874875 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 658.912286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.290431; longitude = -117.694863; captureRadius = 10; duration = 101; initialDepth = 658.912286; finalDepth = 667.685737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.419092 # Actual altitude: 61.419092 # Commanded vehicle depth:658.912286 # Seafloor depth:-715.874875 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 245.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.57; MB_Bottom_Detect_Filter_Max_Range = 245.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 184.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.541579 meters # Minimum depth: 709.065455 meters looking forward 100.000000 meters along route # Maximum depth: 714.339836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 659.065455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.291076; longitude = -117.694088; captureRadius = 10; duration = 101; initialDepth = 659.065455; finalDepth = 658.912286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.962589 # Actual altitude: 56.962589 # Commanded vehicle depth:659.065455 # Seafloor depth:-709.065455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.79; MB_Bottom_Detect_Filter_Max_Range = 227.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.541195 meters # Minimum depth: 704.427166 meters looking forward 100.000000 meters along route # Maximum depth: 714.779138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 654.427166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.291720; longitude = -117.693313; captureRadius = 10; duration = 101; initialDepth = 654.427166; finalDepth = 659.065455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.109163 # Actual altitude: 58.109163 # Commanded vehicle depth:654.427166 # Seafloor depth:-712.536329 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.24; MB_Bottom_Detect_Filter_Max_Range = 232.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.540812 meters # Minimum depth: 690.586005 meters looking forward 100.000000 meters along route # Maximum depth: 702.540303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 640.586005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.292364; longitude = -117.692538; captureRadius = 10; duration = 101; initialDepth = 640.586005; finalDepth = 654.427166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.954298 # Actual altitude: 61.954298 # Commanded vehicle depth:640.586005 # Seafloor depth:-702.540303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.78; MB_Bottom_Detect_Filter_Max_Range = 247.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 185.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.540428 meters # Minimum depth: 682.701286 meters looking forward 100.000000 meters along route # Maximum depth: 690.510515 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 632.701286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.293009; longitude = -117.691763; captureRadius = 10; duration = 101; initialDepth = 632.701286; finalDepth = 640.586005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.954298 # Actual altitude: 61.954298 # Commanded vehicle depth:632.701286 # Seafloor depth:-690.510515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.78; MB_Bottom_Detect_Filter_Max_Range = 247.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 185.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.540045 meters # Minimum depth: 674.474675 meters looking forward 100.000000 meters along route # Maximum depth: 682.180365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.474675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.293653; longitude = -117.690988; captureRadius = 10; duration = 101; initialDepth = 624.474675; finalDepth = 632.701286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.8092290000001 # Actual altitude: 57.8092290000001 # Commanded vehicle depth:624.474675 # Seafloor depth:-681.329184 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.12; MB_Bottom_Detect_Filter_Max_Range = 231.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.539662 meters # Minimum depth: 673.697030 meters looking forward 100.000000 meters along route # Maximum depth: 677.058729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.697030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294297; longitude = -117.690213; captureRadius = 10; duration = 101; initialDepth = 623.697030; finalDepth = 624.474675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.854509 # Actual altitude: 56.854509 # Commanded vehicle depth:623.69703 # Seafloor depth:-674.463738 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.74; MB_Bottom_Detect_Filter_Max_Range = 227.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.539278 meters # Minimum depth: 677.489184 meters looking forward 100.000000 meters along route # Maximum depth: 682.404560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 627.489184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294942; longitude = -117.689438; captureRadius = 10; duration = 101; initialDepth = 627.489184; finalDepth = 623.697030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.766708 # Actual altitude: 50.766708 # Commanded vehicle depth:627.489184 # Seafloor depth:-677.489184 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.538895 meters # Minimum depth: 683.268974 meters looking forward 100.000000 meters along route # Maximum depth: 689.081980 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 633.268974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.295586; longitude = -117.688663; captureRadius = 10; duration = 101; initialDepth = 633.268974; finalDepth = 627.489184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:633.268974 # Seafloor depth:-683.268974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.538511 meters # Minimum depth: 689.198753 meters looking forward 100.000000 meters along route # Maximum depth: 690.858843 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 639.198753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296231; longitude = -117.687888; captureRadius = 10; duration = 101; initialDepth = 639.198753; finalDepth = 633.268974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:639.198753 # Seafloor depth:-689.198753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.538128 meters # Minimum depth: 686.159851 meters looking forward 100.000000 meters along route # Maximum depth: 689.394528 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 636.159851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296875; longitude = -117.687113; captureRadius = 10; duration = 101; initialDepth = 636.159851; finalDepth = 639.198753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.909485 # Actual altitude: 52.909485 # Commanded vehicle depth:636.159851 # Seafloor depth:-689.069336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.16; MB_Bottom_Detect_Filter_Max_Range = 211.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.537744 meters # Minimum depth: 673.297564 meters looking forward 100.000000 meters along route # Maximum depth: 684.703768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.297564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.297519; longitude = -117.686338; captureRadius = 10; duration = 101; initialDepth = 623.297564; finalDepth = 636.159851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.406204 # Actual altitude: 61.406204 # Commanded vehicle depth:623.297564 # Seafloor depth:-684.703768 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 245.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.56; MB_Bottom_Detect_Filter_Max_Range = 245.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 184.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.537362 meters # Minimum depth: 667.669961 meters looking forward 100.000000 meters along route # Maximum depth: 673.005584 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 617.669961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.298164; longitude = -117.685563; captureRadius = 10; duration = 101; initialDepth = 617.669961; finalDepth = 623.297564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.406204 # Actual altitude: 61.406204 # Commanded vehicle depth:617.669961 # Seafloor depth:-673.005584 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 245.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.56; MB_Bottom_Detect_Filter_Max_Range = 245.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 184.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.536977 meters # Minimum depth: 665.744934 meters looking forward 100.000000 meters along route # Maximum depth: 668.657717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 615.744934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.298808; longitude = -117.684788; captureRadius = 10; duration = 101; initialDepth = 615.744934; finalDepth = 617.669961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.3356230000001 # Actual altitude: 55.3356230000001 # Commanded vehicle depth:615.744934 # Seafloor depth:-668.448778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.13; MB_Bottom_Detect_Filter_Max_Range = 221.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.536595 meters # Minimum depth: 668.730455 meters looking forward 100.000000 meters along route # Maximum depth: 670.979408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 618.730455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.299452; longitude = -117.684013; captureRadius = 10; duration = 101; initialDepth = 618.730455; finalDepth = 615.744934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.703844 # Actual altitude: 52.703844 # Commanded vehicle depth:618.730455 # Seafloor depth:-668.730455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.08; MB_Bottom_Detect_Filter_Max_Range = 210.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.536211 meters # Minimum depth: 669.860235 meters looking forward 100.000000 meters along route # Maximum depth: 671.857278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.860235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.300097; longitude = -117.683238; captureRadius = 10; duration = 101; initialDepth = 619.860235; finalDepth = 618.730455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.743231 # Actual altitude: 51.743231 # Commanded vehicle depth:619.860235 # Seafloor depth:-671.603466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 206.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.535828 meters # Minimum depth: 664.462992 meters looking forward 100.000000 meters along route # Maximum depth: 669.690390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 614.462992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.300741; longitude = -117.682463; captureRadius = 10; duration = 101; initialDepth = 614.462992; finalDepth = 619.860235; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.227398 # Actual altitude: 55.227398 # Commanded vehicle depth:614.462992 # Seafloor depth:-669.690390 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.09; MB_Bottom_Detect_Filter_Max_Range = 220.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.535444 meters # Minimum depth: 644.629378 meters looking forward 100.000000 meters along route # Maximum depth: 659.639417 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.629378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.301385; longitude = -117.681688; captureRadius = 10; duration = 101; initialDepth = 594.629378; finalDepth = 614.462992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.010039 # Actual altitude: 65.010039 # Commanded vehicle depth:594.629378 # Seafloor depth:-659.639417 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 260.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.00; MB_Bottom_Detect_Filter_Max_Range = 260.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 195.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.535061 meters # Minimum depth: 623.977455 meters looking forward 100.000000 meters along route # Maximum depth: 641.957103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.977455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302030; longitude = -117.680913; captureRadius = 10; duration = 101; initialDepth = 573.977455; finalDepth = 594.629378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.979648 # Actual altitude: 67.979648 # Commanded vehicle depth:573.977455 # Seafloor depth:-641.957103 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 271.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.19; MB_Bottom_Detect_Filter_Max_Range = 271.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.534678 meters # Minimum depth: 612.429798 meters looking forward 100.000000 meters along route # Maximum depth: 623.179766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.429798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302674; longitude = -117.680138; captureRadius = 10; duration = 101; initialDepth = 562.429798; finalDepth = 573.977455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.979648 # Actual altitude: 67.979648 # Commanded vehicle depth:562.429798 # Seafloor depth:-623.179766 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 271.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.19; MB_Bottom_Detect_Filter_Max_Range = 271.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.534294 meters # Minimum depth: 611.928493 meters looking forward 100.000000 meters along route # Maximum depth: 614.101789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.928493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303318; longitude = -117.679363; captureRadius = 10; duration = 101; initialDepth = 561.928493; finalDepth = 562.429798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.749968 # Actual altitude: 60.749968 # Commanded vehicle depth:561.928493 # Seafloor depth:-613.181446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.30; MB_Bottom_Detect_Filter_Max_Range = 243.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 182.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 102.484845 meters # Minimum depth: 611.892985 meters looking forward 100.000000 meters along route # Maximum depth: 614.203405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.892985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303963; longitude = -117.678588; captureRadius = 10; duration = 102; initialDepth = 561.892985; finalDepth = 561.928493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.252953 # Actual altitude: 51.252953 # Commanded vehicle depth:561.892985 # Seafloor depth:-611.892985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 205.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 100.582595 meters # Minimum depth: 613.624831 meters looking forward 100.000000 meters along route # Maximum depth: 618.323707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.624831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.304613; longitude = -117.677806; captureRadius = 10; duration = 100; initialDepth = 563.624831; finalDepth = 561.892985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:563.624831 # Seafloor depth:-613.624831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.533144 meters # Minimum depth: 619.532915 meters looking forward 100.000000 meters along route # Maximum depth: 623.697293 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.532915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305251; longitude = -117.677038; captureRadius = 10; duration = 101; initialDepth = 569.532915; finalDepth = 563.624831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:569.532915 # Seafloor depth:-619.532915 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.532762 meters # Minimum depth: 623.329601 meters looking forward 100.000000 meters along route # Maximum depth: 625.676684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.329601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305896; longitude = -117.676263; captureRadius = 10; duration = 101; initialDepth = 573.329601; finalDepth = 569.532915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:573.329601 # Seafloor depth:-623.329601 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.532378 meters # Minimum depth: 613.915518 meters looking forward 100.000000 meters along route # Maximum depth: 626.531316 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.915518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306540; longitude = -117.675488; captureRadius = 10; duration = 101; initialDepth = 563.915518; finalDepth = 573.329601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.55049 # Actual altitude: 62.55049 # Commanded vehicle depth:563.915518 # Seafloor depth:-626.466008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 250.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 187.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.531995 meters # Minimum depth: 614.243411 meters looking forward 100.000000 meters along route # Maximum depth: 616.773439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.243411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.307184; longitude = -117.674713; captureRadius = 10; duration = 101; initialDepth = 564.243411; finalDepth = 563.915518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.55049 # Actual altitude: 62.55049 # Commanded vehicle depth:564.243411 # Seafloor depth:-614.253172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 250.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 187.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.531611 meters # Minimum depth: 614.557509 meters looking forward 100.000000 meters along route # Maximum depth: 622.826060 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.557509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.307829; longitude = -117.673938; captureRadius = 10; duration = 101; initialDepth = 564.557509; finalDepth = 564.243411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0097609999999 # Actual altitude: 50.0097609999999 # Commanded vehicle depth:564.557509 # Seafloor depth:-614.557509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.531229 meters # Minimum depth: 615.718646 meters looking forward 100.000000 meters along route # Maximum depth: 620.767028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.718646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308473; longitude = -117.673163; captureRadius = 10; duration = 101; initialDepth = 565.718646; finalDepth = 564.557509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.0483819999999 # Actual altitude: 55.0483819999999 # Commanded vehicle depth:565.718646 # Seafloor depth:-620.767028 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.02; MB_Bottom_Detect_Filter_Max_Range = 220.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.530845 meters # Minimum depth: 607.397609 meters looking forward 100.000000 meters along route # Maximum depth: 615.153462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.397609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309117; longitude = -117.672388; captureRadius = 10; duration = 101; initialDepth = 557.397609; finalDepth = 565.718646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.755853 # Actual altitude: 57.755853 # Commanded vehicle depth:557.397609 # Seafloor depth:-615.153462 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.10; MB_Bottom_Detect_Filter_Max_Range = 231.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.530462 meters # Minimum depth: 598.272512 meters looking forward 100.000000 meters along route # Maximum depth: 605.995127 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.272512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309762; longitude = -117.671613; captureRadius = 10; duration = 101; initialDepth = 548.272512; finalDepth = 557.397609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.755853 # Actual altitude: 57.755853 # Commanded vehicle depth:548.272512 # Seafloor depth:-605.995127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.10; MB_Bottom_Detect_Filter_Max_Range = 231.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.530078 meters # Minimum depth: 593.974608 meters looking forward 100.000000 meters along route # Maximum depth: 597.249761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.974608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.310406; longitude = -117.670838; captureRadius = 10; duration = 101; initialDepth = 543.974608; finalDepth = 548.272512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.722615 # Actual altitude: 57.722615 # Commanded vehicle depth:543.974608 # Seafloor depth:-597.249761 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.09; MB_Bottom_Detect_Filter_Max_Range = 230.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.529696 meters # Minimum depth: 591.554754 meters looking forward 100.000000 meters along route # Maximum depth: 593.944135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.554754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311050; longitude = -117.670063; captureRadius = 10; duration = 101; initialDepth = 541.554754; finalDepth = 543.974608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.275153 # Actual altitude: 53.275153 # Commanded vehicle depth:541.554754 # Seafloor depth:-593.944135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.31; MB_Bottom_Detect_Filter_Max_Range = 213.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.529312 meters # Minimum depth: 588.549241 meters looking forward 100.000000 meters along route # Maximum depth: 590.487592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.549241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311695; longitude = -117.669288; captureRadius = 10; duration = 101; initialDepth = 538.549241; finalDepth = 541.554754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.389381 # Actual altitude: 52.389381 # Commanded vehicle depth:538.549241 # Seafloor depth:-590.487592 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.528929 meters # Minimum depth: 586.024581 meters looking forward 100.000000 meters along route # Maximum depth: 588.262302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.024581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312339; longitude = -117.668513; captureRadius = 10; duration = 101; initialDepth = 536.024581; finalDepth = 538.549241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.237721 # Actual altitude: 52.237721 # Commanded vehicle depth:536.024581 # Seafloor depth:-588.262302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 208.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.528546 meters # Minimum depth: 580.820654 meters looking forward 100.000000 meters along route # Maximum depth: 582.841532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.820654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312983; longitude = -117.667738; captureRadius = 10; duration = 101; initialDepth = 530.820654; finalDepth = 536.024581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.237721 # Actual altitude: 52.237721 # Commanded vehicle depth:530.820654 # Seafloor depth:-582.841532 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 208.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.528163 meters # Minimum depth: 577.607720 meters looking forward 100.000000 meters along route # Maximum depth: 580.132621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.607720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.313628; longitude = -117.666963; captureRadius = 10; duration = 101; initialDepth = 527.607720; finalDepth = 530.820654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.522963 # Actual altitude: 52.522963 # Commanded vehicle depth:527.60772 # Seafloor depth:-580.130683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.01; MB_Bottom_Detect_Filter_Max_Range = 210.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.527780 meters # Minimum depth: 573.456783 meters looking forward 100.000000 meters along route # Maximum depth: 578.553599 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.456783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314272; longitude = -117.666188; captureRadius = 10; duration = 101; initialDepth = 523.456783; finalDepth = 527.607720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.096816 # Actual altitude: 55.096816 # Commanded vehicle depth:523.456783 # Seafloor depth:-578.553599 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.04; MB_Bottom_Detect_Filter_Max_Range = 220.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.527396 meters # Minimum depth: 570.161140 meters looking forward 100.000000 meters along route # Maximum depth: 573.135084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.161140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314916; longitude = -117.665413; captureRadius = 10; duration = 101; initialDepth = 520.161140; finalDepth = 523.456783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.096816 # Actual altitude: 55.096816 # Commanded vehicle depth:520.16114 # Seafloor depth:-572.483090 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.04; MB_Bottom_Detect_Filter_Max_Range = 220.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.527014 meters # Minimum depth: 568.463853 meters looking forward 100.000000 meters along route # Maximum depth: 570.288775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.463853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315561; longitude = -117.664638; captureRadius = 10; duration = 101; initialDepth = 518.463853; finalDepth = 520.161140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3219499999999 # Actual altitude: 52.3219499999999 # Commanded vehicle depth:518.463853 # Seafloor depth:-569.802658 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.93; MB_Bottom_Detect_Filter_Max_Range = 209.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.526630 meters # Minimum depth: 562.940686 meters looking forward 100.000000 meters along route # Maximum depth: 569.161113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 512.940686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.316205; longitude = -117.663863; captureRadius = 10; duration = 101; initialDepth = 512.940686; finalDepth = 518.463853; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.220427 # Actual altitude: 56.220427 # Commanded vehicle depth:512.940686 # Seafloor depth:-569.161113 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.49; MB_Bottom_Detect_Filter_Max_Range = 224.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.526247 meters # Minimum depth: 551.025389 meters looking forward 100.000000 meters along route # Maximum depth: 562.216239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.025389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.316849; longitude = -117.663088; captureRadius = 10; duration = 101; initialDepth = 501.025389; finalDepth = 512.940686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.19085 # Actual altitude: 61.19085 # Commanded vehicle depth:501.025389 # Seafloor depth:-562.216239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 244.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.48; MB_Bottom_Detect_Filter_Max_Range = 244.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 183.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.525864 meters # Minimum depth: 544.246024 meters looking forward 100.000000 meters along route # Maximum depth: 550.556951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.246024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317494; longitude = -117.662313; captureRadius = 10; duration = 101; initialDepth = 494.246024; finalDepth = 501.025389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.19085 # Actual altitude: 61.19085 # Commanded vehicle depth:494.246024 # Seafloor depth:-550.556951 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 244.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.48; MB_Bottom_Detect_Filter_Max_Range = 244.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 183.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.525481 meters # Minimum depth: 530.147579 meters looking forward 100.000000 meters along route # Maximum depth: 543.008267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.147579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318138; longitude = -117.661538; captureRadius = 10; duration = 101; initialDepth = 480.147579; finalDepth = 494.246024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.8606880000001 # Actual altitude: 62.8606880000001 # Commanded vehicle depth:480.147579 # Seafloor depth:-543.008267 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.14; MB_Bottom_Detect_Filter_Max_Range = 251.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 188.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 102.735271 meters # Minimum depth: 515.613990 meters looking forward 100.000000 meters along route # Maximum depth: 528.578079 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 465.613990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318782; longitude = -117.660763; captureRadius = 10; duration = 102; initialDepth = 465.613990; finalDepth = 480.147579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.9640890000001 # Actual altitude: 62.9640890000001 # Commanded vehicle depth:465.61399 # Seafloor depth:-528.578079 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.19; MB_Bottom_Detect_Filter_Max_Range = 251.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 188.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 100.314541 meters # Minimum depth: 515.493194 meters looking forward 100.000000 meters along route # Maximum depth: 523.061455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 465.493194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.319434; longitude = -117.659979; captureRadius = 10; duration = 100; initialDepth = 465.493194; finalDepth = 465.613990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.9640890000001 # Actual altitude: 62.9640890000001 # Commanded vehicle depth:465.493194 # Seafloor depth:-515.493194 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.19; MB_Bottom_Detect_Filter_Max_Range = 251.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 188.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.524332 meters # Minimum depth: 523.766528 meters looking forward 100.000000 meters along route # Maximum depth: 525.339043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.766528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.320071; longitude = -117.659213; captureRadius = 10; duration = 101; initialDepth = 473.766528; finalDepth = 465.493194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.064973 # Actual altitude: 51.064973 # Commanded vehicle depth:473.766528 # Seafloor depth:-524.831501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.523948 meters # Minimum depth: 524.318484 meters looking forward 100.000000 meters along route # Maximum depth: 525.887824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 474.318484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.320715; longitude = -117.658438; captureRadius = 10; duration = 101; initialDepth = 474.318484; finalDepth = 473.766528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.064973 # Actual altitude: 51.064973 # Commanded vehicle depth:474.318484 # Seafloor depth:-525.198686 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.523566 meters # Minimum depth: 520.567893 meters looking forward 100.000000 meters along route # Maximum depth: 524.094025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 470.567893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.321360; longitude = -117.657663; captureRadius = 10; duration = 101; initialDepth = 470.567893; finalDepth = 474.318484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.444314 # Actual altitude: 53.444314 # Commanded vehicle depth:470.567893 # Seafloor depth:-524.012207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.38; MB_Bottom_Detect_Filter_Max_Range = 213.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.566402 meters # Minimum depth: 509.677410 meters looking forward 100.000000 meters along route # Maximum depth: 519.149762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.677410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.322004; longitude = -117.656888; captureRadius = 10; duration = 101; initialDepth = 459.677410; finalDepth = 470.567893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.472352 # Actual altitude: 59.472352 # Commanded vehicle depth:459.67741 # Seafloor depth:-519.149762 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 237.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.79; MB_Bottom_Detect_Filter_Max_Range = 237.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 178.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.479579 meters # Minimum depth: 498.927521 meters looking forward 100.000000 meters along route # Maximum depth: 509.669959 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 448.927521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.322649; longitude = -117.656113; captureRadius = 10; duration = 101; initialDepth = 448.927521; finalDepth = 459.677410; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.742438 # Actual altitude: 60.742438 # Commanded vehicle depth:448.927521 # Seafloor depth:-509.669959 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.30; MB_Bottom_Detect_Filter_Max_Range = 242.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 182.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.522417 meters # Minimum depth: 478.960446 meters looking forward 100.000000 meters along route # Maximum depth: 495.350682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 428.960446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323293; longitude = -117.655338; captureRadius = 10; duration = 101; initialDepth = 428.960446; finalDepth = 448.927521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.390236 # Actual altitude: 66.390236 # Commanded vehicle depth:428.960446 # Seafloor depth:-495.350682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 265.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.56; MB_Bottom_Detect_Filter_Max_Range = 265.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 199.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.522033 meters # Minimum depth: 474.811892 meters looking forward 100.000000 meters along route # Maximum depth: 478.082539 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 424.811892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323937; longitude = -117.654563; captureRadius = 10; duration = 101; initialDepth = 424.811892; finalDepth = 428.960446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.390236 # Actual altitude: 66.390236 # Commanded vehicle depth:424.811892 # Seafloor depth:-478.082539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 265.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.56; MB_Bottom_Detect_Filter_Max_Range = 265.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 199.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.521650 meters # Minimum depth: 457.628997 meters looking forward 100.000000 meters along route # Maximum depth: 470.786322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 407.628997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.324581; longitude = -117.653788; captureRadius = 10; duration = 101; initialDepth = 407.628997; finalDepth = 424.811892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.157325 # Actual altitude: 63.157325 # Commanded vehicle depth:407.628997 # Seafloor depth:-470.786322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.26; MB_Bottom_Detect_Filter_Max_Range = 252.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 189.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.521267 meters # Minimum depth: 439.262544 meters looking forward 100.000000 meters along route # Maximum depth: 457.236035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.262544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.325226; longitude = -117.653013; captureRadius = 10; duration = 101; initialDepth = 389.262544; finalDepth = 407.628997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.973491 # Actual altitude: 67.973491 # Commanded vehicle depth:389.262544 # Seafloor depth:-457.236035 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 271.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.19; MB_Bottom_Detect_Filter_Max_Range = 271.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 111.417962 meters # Minimum depth: 424.265239 meters looking forward 100.000000 meters along route # Maximum depth: 439.221095 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 374.265239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.325870; longitude = -117.652238; captureRadius = 10; duration = 111; initialDepth = 374.265239; finalDepth = 389.262544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.973491 # Actual altitude: 67.973491 # Commanded vehicle depth:374.265239 # Seafloor depth:-439.221095 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 271.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.19; MB_Bottom_Detect_Filter_Max_Range = 271.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 112.541181 meters # Minimum depth: 404.207269 meters looking forward 100.000000 meters along route # Maximum depth: 418.761758 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 354.207269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.326577; longitude = -117.651388; captureRadius = 10; duration = 112; initialDepth = 354.207269; finalDepth = 374.265239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.955856 # Actual altitude: 64.955856 # Commanded vehicle depth:354.207269 # Seafloor depth:-418.761758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 259.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.98; MB_Bottom_Detect_Filter_Max_Range = 259.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 194.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 103.162335 meters # Minimum depth: 398.207118 meters looking forward 100.000000 meters along route # Maximum depth: 402.131840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 348.207118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.327292; longitude = -117.650529; captureRadius = 10; duration = 103; initialDepth = 348.207118; finalDepth = 354.207269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.554489 # Actual altitude: 64.554489 # Commanded vehicle depth:348.207118 # Seafloor depth:-400.532360 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.82; MB_Bottom_Detect_Filter_Max_Range = 258.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 193.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 48.124711 meters # Minimum depth: 398.207118 meters looking forward 100.000000 meters along route # Maximum depth: 415.778717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 348.207118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.327946; longitude = -117.649741; captureRadius = 10; duration = 48; # abortOnTimeout = True; initialDepth = 348.207118; finalDepth = 348.207118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.325242 # Actual altitude: 52.325242 # Commanded vehicle depth:348.207118 # Seafloor depth:-398.479004 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.93; MB_Bottom_Detect_Filter_Max_Range = 209.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.874085 meters # Minimum depth: 417.250793 meters looking forward 100.000000 meters along route # Maximum depth: 427.516972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 367.250793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.328260; longitude = -117.650099; captureRadius = 10; duration = 105; initialDepth = 367.250793; finalDepth = 348.207118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.271886 # Actual altitude: 50.271886 # Commanded vehicle depth:367.250793 # Seafloor depth:-417.250793 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.11; MB_Bottom_Detect_Filter_Max_Range = 201.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 45.021062 meters # Minimum depth: 420.670329 meters looking forward 100.000000 meters along route # Maximum depth: 429.542790 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.670329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.328949; longitude = -117.650887; captureRadius = 10; duration = 45; # abortOnTimeout = True; initialDepth = 370.670329; finalDepth = 367.250793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:370.670329 # Seafloor depth:-420.670329 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.297664 meters # Minimum depth: 431.091675 meters looking forward 100.000000 meters along route # Maximum depth: 443.794543 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.091675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.328662; longitude = -117.651230; captureRadius = 10; duration = 101; initialDepth = 381.091675; finalDepth = 370.670329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:381.091675 # Seafloor depth:-431.091675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.298045 meters # Minimum depth: 447.665469 meters looking forward 100.000000 meters along route # Maximum depth: 455.728633 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.665469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.328018; longitude = -117.652001; captureRadius = 10; duration = 101; initialDepth = 397.665469; finalDepth = 381.091675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:397.665469 # Seafloor depth:-447.665469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.298425 meters # Minimum depth: 458.817277 meters looking forward 100.000000 meters along route # Maximum depth: 475.628305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 408.817277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.327374; longitude = -117.652773; captureRadius = 10; duration = 101; initialDepth = 408.817277; finalDepth = 397.665469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:408.817277 # Seafloor depth:-458.817277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.298805 meters # Minimum depth: 475.817499 meters looking forward 100.000000 meters along route # Maximum depth: 479.252391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 425.817499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.326729; longitude = -117.653544; captureRadius = 10; duration = 101; initialDepth = 425.817499; finalDepth = 408.817277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:425.817499 # Seafloor depth:-475.817499 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.299186 meters # Minimum depth: 481.922632 meters looking forward 100.000000 meters along route # Maximum depth: 488.931081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 431.922632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.326085; longitude = -117.654316; captureRadius = 10; duration = 101; initialDepth = 431.922632; finalDepth = 425.817499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.59405 # Actual altitude: 52.59405 # Commanded vehicle depth:431.922632 # Seafloor depth:-484.516682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.04; MB_Bottom_Detect_Filter_Max_Range = 210.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.299567 meters # Minimum depth: 483.061325 meters looking forward 100.000000 meters along route # Maximum depth: 493.516895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 433.061325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.325441; longitude = -117.655088; captureRadius = 10; duration = 101; initialDepth = 433.061325; finalDepth = 431.922632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.59405 # Actual altitude: 52.59405 # Commanded vehicle depth:433.061325 # Seafloor depth:-483.061325 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.04; MB_Bottom_Detect_Filter_Max_Range = 210.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.299947 meters # Minimum depth: 487.637797 meters looking forward 100.000000 meters along route # Maximum depth: 496.188610 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.637797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.324796; longitude = -117.655859; captureRadius = 10; duration = 101; initialDepth = 437.637797; finalDepth = 433.061325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:437.637797 # Seafloor depth:-487.637797 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.300327 meters # Minimum depth: 494.773233 meters looking forward 100.000000 meters along route # Maximum depth: 499.790383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 444.773233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.324152; longitude = -117.656631; captureRadius = 10; duration = 101; initialDepth = 444.773233; finalDepth = 437.637797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.090266 # Actual altitude: 50.090266 # Commanded vehicle depth:444.773233 # Seafloor depth:-494.863499 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.04; MB_Bottom_Detect_Filter_Max_Range = 200.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.300708 meters # Minimum depth: 499.197545 meters looking forward 100.000000 meters along route # Maximum depth: 503.520342 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 449.197545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323508; longitude = -117.657403; captureRadius = 10; duration = 101; initialDepth = 449.197545; finalDepth = 444.773233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.60045 # Actual altitude: 50.60045 # Commanded vehicle depth:449.197545 # Seafloor depth:-499.797995 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.301089 meters # Minimum depth: 503.536037 meters looking forward 100.000000 meters along route # Maximum depth: 514.557066 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.536037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.322863; longitude = -117.658174; captureRadius = 10; duration = 101; initialDepth = 453.536037; finalDepth = 449.197545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.60045 # Actual altitude: 50.60045 # Commanded vehicle depth:453.536037 # Seafloor depth:-503.536037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.301469 meters # Minimum depth: 515.676614 meters looking forward 100.000000 meters along route # Maximum depth: 526.604844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 465.676614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.322219; longitude = -117.658946; captureRadius = 10; duration = 101; initialDepth = 465.676614; finalDepth = 453.536037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:465.676614 # Seafloor depth:-515.676614 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.301850 meters # Minimum depth: 523.893639 meters looking forward 100.000000 meters along route # Maximum depth: 539.410785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.893639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.321575; longitude = -117.659717; captureRadius = 10; duration = 101; initialDepth = 473.893639; finalDepth = 465.676614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.020355 # Actual altitude: 50.020355 # Commanded vehicle depth:473.893639 # Seafloor depth:-523.913994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 102.209030 meters # Minimum depth: 538.117978 meters looking forward 100.000000 meters along route # Maximum depth: 546.248191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.117978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.320930; longitude = -117.660489; captureRadius = 10; duration = 102; initialDepth = 488.117978; finalDepth = 473.893639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.843964 # Actual altitude: 50.843964 # Commanded vehicle depth:488.117978 # Seafloor depth:-538.961942 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 203.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 100.395811 meters # Minimum depth: 546.176302 meters looking forward 100.000000 meters along route # Maximum depth: 554.130178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.176302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.320280; longitude = -117.661268; captureRadius = 10; duration = 100; initialDepth = 496.176302; finalDepth = 488.117978; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.843964 # Actual altitude: 50.843964 # Commanded vehicle depth:496.176302 # Seafloor depth:-546.176302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 203.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.302992 meters # Minimum depth: 556.509112 meters looking forward 100.000000 meters along route # Maximum depth: 561.555065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.509112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.319642; longitude = -117.662032; captureRadius = 10; duration = 101; initialDepth = 506.509112; finalDepth = 496.176302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.418486 # Actual altitude: 50.418486 # Commanded vehicle depth:506.509112 # Seafloor depth:-556.927598 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.303372 meters # Minimum depth: 561.620241 meters looking forward 100.000000 meters along route # Maximum depth: 565.759154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.620241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318997; longitude = -117.662804; captureRadius = 10; duration = 101; initialDepth = 511.620241; finalDepth = 506.509112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.418486 # Actual altitude: 50.418486 # Commanded vehicle depth:511.620241 # Seafloor depth:-561.620241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.303753 meters # Minimum depth: 566.055272 meters looking forward 100.000000 meters along route # Maximum depth: 569.212378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 516.055272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318353; longitude = -117.663576; captureRadius = 10; duration = 101; initialDepth = 516.055272; finalDepth = 511.620241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:516.055272 # Seafloor depth:-566.055272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.304134 meters # Minimum depth: 569.384885 meters looking forward 100.000000 meters along route # Maximum depth: 571.590994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 519.384885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317709; longitude = -117.664347; captureRadius = 10; duration = 101; initialDepth = 519.384885; finalDepth = 516.055272; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:519.384885 # Seafloor depth:-569.384885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.304514 meters # Minimum depth: 568.279879 meters looking forward 100.000000 meters along route # Maximum depth: 572.152895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.279879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317064; longitude = -117.665119; captureRadius = 10; duration = 101; initialDepth = 518.279879; finalDepth = 519.384885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.819712 # Actual altitude: 53.819712 # Commanded vehicle depth:518.279879 # Seafloor depth:-572.099591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.53; MB_Bottom_Detect_Filter_Max_Range = 215.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.304894 meters # Minimum depth: 570.932288 meters looking forward 100.000000 meters along route # Maximum depth: 573.553876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.932288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.316420; longitude = -117.665890; captureRadius = 10; duration = 101; initialDepth = 520.932288; finalDepth = 518.279879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.819712 # Actual altitude: 53.819712 # Commanded vehicle depth:520.932288 # Seafloor depth:-572.024885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.53; MB_Bottom_Detect_Filter_Max_Range = 215.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.305276 meters # Minimum depth: 573.978528 meters looking forward 100.000000 meters along route # Maximum depth: 577.823516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.978528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315775; longitude = -117.666662; captureRadius = 10; duration = 101; initialDepth = 523.978528; finalDepth = 520.932288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0925970000001 # Actual altitude: 51.0925970000001 # Commanded vehicle depth:523.978528 # Seafloor depth:-573.978528 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 204.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.305656 meters # Minimum depth: 578.321676 meters looking forward 100.000000 meters along route # Maximum depth: 580.356389 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 528.321676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315131; longitude = -117.667434; captureRadius = 10; duration = 101; initialDepth = 528.321676; finalDepth = 523.978528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.250824 # Actual altitude: 50.250824 # Commanded vehicle depth:528.321676 # Seafloor depth:-578.572500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 201.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.306037 meters # Minimum depth: 580.072386 meters looking forward 100.000000 meters along route # Maximum depth: 583.240645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.072386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314487; longitude = -117.668205; captureRadius = 10; duration = 101; initialDepth = 530.072386; finalDepth = 528.321676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.250824 # Actual altitude: 50.250824 # Commanded vehicle depth:530.072386 # Seafloor depth:-580.072386 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 201.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.306417 meters # Minimum depth: 583.296671 meters looking forward 100.000000 meters along route # Maximum depth: 586.520832 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.296671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.313842; longitude = -117.668977; captureRadius = 10; duration = 101; initialDepth = 533.296671; finalDepth = 530.072386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:533.296671 # Seafloor depth:-583.296671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.306798 meters # Minimum depth: 586.495658 meters looking forward 100.000000 meters along route # Maximum depth: 587.974148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.495658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.313198; longitude = -117.669749; captureRadius = 10; duration = 101; initialDepth = 536.495658; finalDepth = 533.296671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.031518 # Actual altitude: 50.031518 # Commanded vehicle depth:536.495658 # Seafloor depth:-586.527176 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.307179 meters # Minimum depth: 587.372141 meters looking forward 100.000000 meters along route # Maximum depth: 588.279719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.372141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312554; longitude = -117.670520; captureRadius = 10; duration = 101; initialDepth = 537.372141; finalDepth = 536.495658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.576419 # Actual altitude: 50.576419 # Commanded vehicle depth:537.372141 # Seafloor depth:-587.948560 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.307559 meters # Minimum depth: 588.502239 meters looking forward 100.000000 meters along route # Maximum depth: 592.696868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.502239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311909; longitude = -117.671292; captureRadius = 10; duration = 101; initialDepth = 538.502239; finalDepth = 537.372141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.576419 # Actual altitude: 50.576419 # Commanded vehicle depth:538.502239 # Seafloor depth:-588.502239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.307940 meters # Minimum depth: 593.157916 meters looking forward 100.000000 meters along route # Maximum depth: 602.916058 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.157916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311265; longitude = -117.672063; captureRadius = 10; duration = 101; initialDepth = 543.157916; finalDepth = 538.502239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:543.157916 # Seafloor depth:-593.157916 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.308321 meters # Minimum depth: 603.782080 meters looking forward 100.000000 meters along route # Maximum depth: 610.555656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.782080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.310621; longitude = -117.672835; captureRadius = 10; duration = 101; initialDepth = 553.782080; finalDepth = 543.157916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:553.78208 # Seafloor depth:-603.782080 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.308702 meters # Minimum depth: 612.037472 meters looking forward 100.000000 meters along route # Maximum depth: 615.427971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.037472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309976; longitude = -117.673607; captureRadius = 10; duration = 101; initialDepth = 562.037472; finalDepth = 553.782080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:562.037472 # Seafloor depth:-612.037472 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.309082 meters # Minimum depth: 614.219642 meters looking forward 100.000000 meters along route # Maximum depth: 617.750705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.219642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309332; longitude = -117.674378; captureRadius = 10; duration = 101; initialDepth = 564.219642; finalDepth = 562.037472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:564.219642 # Seafloor depth:-614.219642 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.309463 meters # Minimum depth: 610.884348 meters looking forward 100.000000 meters along route # Maximum depth: 618.558657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.884348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308688; longitude = -117.675150; captureRadius = 10; duration = 101; initialDepth = 560.884348; finalDepth = 564.219642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.7869159999999 # Actual altitude: 56.7869159999999 # Commanded vehicle depth:560.884348 # Seafloor depth:-617.671264 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.71; MB_Bottom_Detect_Filter_Max_Range = 227.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.309844 meters # Minimum depth: 608.491534 meters looking forward 100.000000 meters along route # Maximum depth: 612.934081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.491534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308043; longitude = -117.675922; captureRadius = 10; duration = 101; initialDepth = 558.491534; finalDepth = 560.884348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.7869159999999 # Actual altitude: 56.7869159999999 # Commanded vehicle depth:558.491534 # Seafloor depth:-611.035733 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.71; MB_Bottom_Detect_Filter_Max_Range = 227.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.310225 meters # Minimum depth: 604.754098 meters looking forward 100.000000 meters along route # Maximum depth: 608.072682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.754098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.307399; longitude = -117.676693; captureRadius = 10; duration = 101; initialDepth = 554.754098; finalDepth = 558.491534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.318584 # Actual altitude: 53.318584 # Commanded vehicle depth:554.754098 # Seafloor depth:-608.072682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.33; MB_Bottom_Detect_Filter_Max_Range = 213.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.310605 meters # Minimum depth: 603.345615 meters looking forward 100.000000 meters along route # Maximum depth: 604.308708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.345615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306755; longitude = -117.677465; captureRadius = 10; duration = 101; initialDepth = 553.345615; finalDepth = 554.754098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.318584 # Actual altitude: 53.318584 # Commanded vehicle depth:553.345615 # Seafloor depth:-604.197023 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.33; MB_Bottom_Detect_Filter_Max_Range = 213.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.310986 meters # Minimum depth: 602.759988 meters looking forward 100.000000 meters along route # Maximum depth: 604.309886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.759988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306110; longitude = -117.678237; captureRadius = 10; duration = 101; initialDepth = 552.759988; finalDepth = 553.345615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.549898 # Actual altitude: 51.549898 # Commanded vehicle depth:552.759988 # Seafloor depth:-604.309886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.311367 meters # Minimum depth: 603.970300 meters looking forward 100.000000 meters along route # Maximum depth: 609.923942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.970300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305466; longitude = -117.679008; captureRadius = 10; duration = 101; initialDepth = 553.970300; finalDepth = 552.759988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.549898 # Actual altitude: 51.549898 # Commanded vehicle depth:553.9703 # Seafloor depth:-603.970300 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.311748 meters # Minimum depth: 610.390059 meters looking forward 100.000000 meters along route # Maximum depth: 613.434488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.390059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.304822; longitude = -117.679780; captureRadius = 10; duration = 101; initialDepth = 560.390059; finalDepth = 553.970300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:560.390059 # Seafloor depth:-610.390059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.312128 meters # Minimum depth: 612.921834 meters looking forward 100.000000 meters along route # Maximum depth: 623.150118 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.921834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.304177; longitude = -117.680551; captureRadius = 10; duration = 101; initialDepth = 562.921834; finalDepth = 560.390059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.143504 # Actual altitude: 50.143504 # Commanded vehicle depth:562.921834 # Seafloor depth:-613.065338 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 102.176215 meters # Minimum depth: 624.878589 meters looking forward 100.000000 meters along route # Maximum depth: 640.279657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.878589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303533; longitude = -117.681323; captureRadius = 10; duration = 102; initialDepth = 574.878589; finalDepth = 562.921834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.143504 # Actual altitude: 50.143504 # Commanded vehicle depth:574.878589 # Seafloor depth:-624.878589 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 100.449185 meters # Minimum depth: 640.405493 meters looking forward 100.000000 meters along route # Maximum depth: 651.692550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.405493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302883; longitude = -117.682101; captureRadius = 10; duration = 100; initialDepth = 590.405493; finalDepth = 574.878589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:590.405493 # Seafloor depth:-640.405493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.313271 meters # Minimum depth: 653.593189 meters looking forward 100.000000 meters along route # Maximum depth: 664.842845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.593189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302244; longitude = -117.682866; captureRadius = 10; duration = 101; initialDepth = 603.593189; finalDepth = 590.405493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:603.593189 # Seafloor depth:-653.593189 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.313651 meters # Minimum depth: 665.297291 meters looking forward 100.000000 meters along route # Maximum depth: 667.225837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 615.297291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.301600; longitude = -117.683638; captureRadius = 10; duration = 101; initialDepth = 615.297291; finalDepth = 603.593189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:615.297291 # Seafloor depth:-665.297291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.314033 meters # Minimum depth: 666.716140 meters looking forward 100.000000 meters along route # Maximum depth: 670.371877 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 616.716140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.300956; longitude = -117.684410; captureRadius = 10; duration = 101; initialDepth = 616.716140; finalDepth = 615.297291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:616.71614 # Seafloor depth:-666.716140 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.314414 meters # Minimum depth: 669.483439 meters looking forward 100.000000 meters along route # Maximum depth: 672.103810 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.483439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.300311; longitude = -117.685181; captureRadius = 10; duration = 101; initialDepth = 619.483439; finalDepth = 616.716140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1713570000001 # Actual altitude: 50.1713570000001 # Commanded vehicle depth:619.483439 # Seafloor depth:-669.654796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.314794 meters # Minimum depth: 668.843299 meters looking forward 100.000000 meters along route # Maximum depth: 669.766139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 618.843299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.299667; longitude = -117.685953; captureRadius = 10; duration = 101; initialDepth = 618.843299; finalDepth = 619.483439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1713570000001 # Actual altitude: 50.1713570000001 # Commanded vehicle depth:618.843299 # Seafloor depth:-668.843299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.315175 meters # Minimum depth: 669.857955 meters looking forward 100.000000 meters along route # Maximum depth: 672.418425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.857955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.299023; longitude = -117.686724; captureRadius = 10; duration = 101; initialDepth = 619.857955; finalDepth = 618.843299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:619.857955 # Seafloor depth:-669.857955 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.315556 meters # Minimum depth: 672.459921 meters looking forward 100.000000 meters along route # Maximum depth: 675.639445 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.459921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.298378; longitude = -117.687496; captureRadius = 10; duration = 101; initialDepth = 622.459921; finalDepth = 619.857955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:622.459921 # Seafloor depth:-672.459921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.315937 meters # Minimum depth: 676.658768 meters looking forward 100.000000 meters along route # Maximum depth: 681.908124 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 626.658768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.297734; longitude = -117.688268; captureRadius = 10; duration = 101; initialDepth = 626.658768; finalDepth = 622.459921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:626.658768 # Seafloor depth:-676.658768 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.316318 meters # Minimum depth: 675.077423 meters looking forward 100.000000 meters along route # Maximum depth: 678.009238 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 625.077423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.297090; longitude = -117.689039; captureRadius = 10; duration = 101; initialDepth = 625.077423; finalDepth = 626.658768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.931815 # Actual altitude: 52.931815 # Commanded vehicle depth:625.077423 # Seafloor depth:-678.009238 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.17; MB_Bottom_Detect_Filter_Max_Range = 211.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.316699 meters # Minimum depth: 672.275668 meters looking forward 100.000000 meters along route # Maximum depth: 675.033204 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.275668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296445; longitude = -117.689811; captureRadius = 10; duration = 101; initialDepth = 622.275668; finalDepth = 625.077423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.931815 # Actual altitude: 52.931815 # Commanded vehicle depth:622.275668 # Seafloor depth:-675.033204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.17; MB_Bottom_Detect_Filter_Max_Range = 211.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.317079 meters # Minimum depth: 672.967544 meters looking forward 100.000000 meters along route # Maximum depth: 676.408082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.967544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.295801; longitude = -117.690583; captureRadius = 10; duration = 101; initialDepth = 622.967544; finalDepth = 622.275668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.757536 # Actual altitude: 52.757536 # Commanded vehicle depth:622.967544 # Seafloor depth:-673.130345 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.10; MB_Bottom_Detect_Filter_Max_Range = 211.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.317461 meters # Minimum depth: 674.988776 meters looking forward 100.000000 meters along route # Maximum depth: 680.145314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.988776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.295157; longitude = -117.691354; captureRadius = 10; duration = 101; initialDepth = 624.988776; finalDepth = 622.967544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1628010000001 # Actual altitude: 50.1628010000001 # Commanded vehicle depth:624.988776 # Seafloor depth:-674.988776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.317841 meters # Minimum depth: 683.892129 meters looking forward 100.000000 meters along route # Maximum depth: 696.878401 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 633.892129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294512; longitude = -117.692126; captureRadius = 10; duration = 101; initialDepth = 633.892129; finalDepth = 624.988776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:633.892129 # Seafloor depth:-683.892129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.318223 meters # Minimum depth: 699.435364 meters looking forward 100.000000 meters along route # Maximum depth: 724.397628 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.435364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.293868; longitude = -117.692897; captureRadius = 10; duration = 101; initialDepth = 649.435364; finalDepth = 633.892129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:649.435364 # Seafloor depth:-699.435364 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.318603 meters # Minimum depth: 715.017132 meters looking forward 100.000000 meters along route # Maximum depth: 723.256168 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.017132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.293224; longitude = -117.693669; captureRadius = 10; duration = 101; initialDepth = 665.017132; finalDepth = 649.435364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.2390360000001 # Actual altitude: 58.2390360000001 # Commanded vehicle depth:665.017132 # Seafloor depth:-723.256168 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.30; MB_Bottom_Detect_Filter_Max_Range = 232.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.318985 meters # Minimum depth: 703.685446 meters looking forward 100.000000 meters along route # Maximum depth: 711.217483 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.685446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.292579; longitude = -117.694441; captureRadius = 10; duration = 101; initialDepth = 653.685446; finalDepth = 665.017132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.2390360000001 # Actual altitude: 58.2390360000001 # Commanded vehicle depth:653.685446 # Seafloor depth:-711.217483 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.30; MB_Bottom_Detect_Filter_Max_Range = 232.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.319365 meters # Minimum depth: 703.558345 meters looking forward 100.000000 meters along route # Maximum depth: 704.417049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.558345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.291935; longitude = -117.695212; captureRadius = 10; duration = 101; initialDepth = 653.558345; finalDepth = 653.685446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.5320370000001 # Actual altitude: 57.5320370000001 # Commanded vehicle depth:653.558345 # Seafloor depth:-703.656278 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.01; MB_Bottom_Detect_Filter_Max_Range = 230.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 172.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.319746 meters # Minimum depth: 703.464924 meters looking forward 100.000000 meters along route # Maximum depth: 714.420032 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.464924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.291291; longitude = -117.695984; captureRadius = 10; duration = 101; initialDepth = 653.464924; finalDepth = 653.558345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.097933 # Actual altitude: 50.097933 # Commanded vehicle depth:653.464924 # Seafloor depth:-703.464924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.04; MB_Bottom_Detect_Filter_Max_Range = 200.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.320127 meters # Minimum depth: 715.282105 meters looking forward 100.000000 meters along route # Maximum depth: 732.200698 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.282105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.290646; longitude = -117.696756; captureRadius = 10; duration = 101; initialDepth = 665.282105; finalDepth = 653.464924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:665.282105 # Seafloor depth:-715.282105 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.320508 meters # Minimum depth: 734.467271 meters looking forward 100.000000 meters along route # Maximum depth: 738.722316 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.467271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.290002; longitude = -117.697527; captureRadius = 10; duration = 101; initialDepth = 684.467271; finalDepth = 665.282105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:684.467271 # Seafloor depth:-734.467271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.320890 meters # Minimum depth: 737.290736 meters looking forward 100.000000 meters along route # Maximum depth: 738.903283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.290736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.289358; longitude = -117.698299; captureRadius = 10; duration = 101; initialDepth = 687.290736; finalDepth = 684.467271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.519107 # Actual altitude: 51.519107 # Commanded vehicle depth:687.290736 # Seafloor depth:-738.809843 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.321270 meters # Minimum depth: 738.902732 meters looking forward 100.000000 meters along route # Maximum depth: 747.807917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.902732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.288713; longitude = -117.699070; captureRadius = 10; duration = 101; initialDepth = 688.902732; finalDepth = 687.290736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.519107 # Actual altitude: 51.519107 # Commanded vehicle depth:688.902732 # Seafloor depth:-738.902732 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.321651 meters # Minimum depth: 748.287644 meters looking forward 100.000000 meters along route # Maximum depth: 756.678164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.287644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.288069; longitude = -117.699842; captureRadius = 10; duration = 101; initialDepth = 698.287644; finalDepth = 688.902732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.24638 # Actual altitude: 50.24638 # Commanded vehicle depth:698.287644 # Seafloor depth:-748.534024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 200.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.322032 meters # Minimum depth: 757.022490 meters looking forward 100.000000 meters along route # Maximum depth: 761.331255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.022490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.287425; longitude = -117.700614; captureRadius = 10; duration = 101; initialDepth = 707.022490; finalDepth = 698.287644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.24638 # Actual altitude: 50.24638 # Commanded vehicle depth:707.02249 # Seafloor depth:-757.022490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 200.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.322414 meters # Minimum depth: 762.213673 meters looking forward 100.000000 meters along route # Maximum depth: 763.684826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.213673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.286780; longitude = -117.701385; captureRadius = 10; duration = 101; initialDepth = 712.213673; finalDepth = 707.022490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:712.213673 # Seafloor depth:-762.213673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 102.143398 meters # Minimum depth: 763.810982 meters looking forward 100.000000 meters along route # Maximum depth: 764.952563 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.810982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.286136; longitude = -117.702157; captureRadius = 10; duration = 102; initialDepth = 713.810982; finalDepth = 712.213673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:713.810982 # Seafloor depth:-763.810982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 100.502571 meters # Minimum depth: 764.961547 meters looking forward 100.000000 meters along route # Maximum depth: 765.798943 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.961547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285486; longitude = -117.702935; captureRadius = 10; duration = 100; initialDepth = 714.961547; finalDepth = 713.810982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:714.961547 # Seafloor depth:-764.961547 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.323557 meters # Minimum depth: 765.949685 meters looking forward 100.000000 meters along route # Maximum depth: 766.901579 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.949685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.284847; longitude = -117.703700; captureRadius = 10; duration = 101; initialDepth = 715.949685; finalDepth = 714.961547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:715.949685 # Seafloor depth:-765.949685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.323937 meters # Minimum depth: 766.944849 meters looking forward 100.000000 meters along route # Maximum depth: 767.789845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.944849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.284203; longitude = -117.704472; captureRadius = 10; duration = 101; initialDepth = 716.944849; finalDepth = 715.949685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:716.944849 # Seafloor depth:-766.944849 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.324318 meters # Minimum depth: 768.020369 meters looking forward 100.000000 meters along route # Maximum depth: 769.097238 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.020369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.283559; longitude = -117.705244; captureRadius = 10; duration = 101; initialDepth = 718.020369; finalDepth = 716.944849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:718.020369 # Seafloor depth:-768.020369 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 112.583023 meters # Minimum depth: 769.215944 meters looking forward 100.000000 meters along route # Maximum depth: 770.554538 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.215944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.282914; longitude = -117.706015; captureRadius = 10; duration = 112; initialDepth = 719.215944; finalDepth = 718.020369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:719.215944 # Seafloor depth:-769.215944 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 51.829944 meters # Minimum depth: 770.081533 meters looking forward 100.000000 meters along route # Maximum depth: 770.682943 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.081533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.282198; longitude = -117.706873; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 720.081533; finalDepth = 719.215944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.60141 # Actual altitude: 50.60141 # Commanded vehicle depth:720.081533 # Seafloor depth:-770.682943 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 103.659638 meters # Minimum depth: 770.080404 meters looking forward 100.000000 meters along route # Maximum depth: 770.504883 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.080404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.282556; longitude = -117.707230; captureRadius = 10; duration = 103; initialDepth = 720.080404; finalDepth = 720.081533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.60141 # Actual altitude: 50.60141 # Commanded vehicle depth:720.080404 # Seafloor depth:-770.504883 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 45.032999 meters # Minimum depth: 769.452268 meters looking forward 100.000000 meters along route # Maximum depth: 770.292969 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.452268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.283272; longitude = -117.707946; captureRadius = 10; duration = 45; # abortOnTimeout = True; initialDepth = 719.452268; finalDepth = 720.080404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5682399999999 # Actual altitude: 50.5682399999999 # Commanded vehicle depth:719.452268 # Seafloor depth:-770.020508 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.323974 meters # Minimum depth: 768.305272 meters looking forward 100.000000 meters along route # Maximum depth: 769.344900 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.305272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.283559; longitude = -117.707603; captureRadius = 10; duration = 101; initialDepth = 718.305272; finalDepth = 719.452268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0396280000001 # Actual altitude: 51.0396280000001 # Commanded vehicle depth:718.305272 # Seafloor depth:-769.344900 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.323592 meters # Minimum depth: 767.067058 meters looking forward 100.000000 meters along route # Maximum depth: 768.013629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.067058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.284203; longitude = -117.706832; captureRadius = 10; duration = 101; initialDepth = 717.067058; finalDepth = 718.305272; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0396280000001 # Actual altitude: 51.0396280000001 # Commanded vehicle depth:717.067058 # Seafloor depth:-768.013629 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.323212 meters # Minimum depth: 766.195590 meters looking forward 100.000000 meters along route # Maximum depth: 766.949433 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.195590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.284847; longitude = -117.706060; captureRadius = 10; duration = 101; initialDepth = 716.195590; finalDepth = 717.067058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9465710000001 # Actual altitude: 50.9465710000001 # Commanded vehicle depth:716.19559 # Seafloor depth:-766.949433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.322830 meters # Minimum depth: 765.780446 meters looking forward 100.000000 meters along route # Maximum depth: 766.188121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.780446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285492; longitude = -117.705289; captureRadius = 10; duration = 101; initialDepth = 715.780446; finalDepth = 716.195590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.753843 # Actual altitude: 50.753843 # Commanded vehicle depth:715.780446 # Seafloor depth:-766.188121 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 203.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.322449 meters # Minimum depth: 765.395191 meters looking forward 100.000000 meters along route # Maximum depth: 765.707395 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.395191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.286136; longitude = -117.704517; captureRadius = 10; duration = 101; initialDepth = 715.395191; finalDepth = 715.780446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.407675 # Actual altitude: 50.407675 # Commanded vehicle depth:715.395191 # Seafloor depth:-765.707395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.16; MB_Bottom_Detect_Filter_Max_Range = 201.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.322068 meters # Minimum depth: 765.256594 meters looking forward 100.000000 meters along route # Maximum depth: 765.373244 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.256594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.286780; longitude = -117.703745; captureRadius = 10; duration = 101; initialDepth = 715.256594; finalDepth = 715.395191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3122040000001 # Actual altitude: 50.3122040000001 # Commanded vehicle depth:715.256594 # Seafloor depth:-765.373244 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.321687 meters # Minimum depth: 760.145920 meters looking forward 100.000000 meters along route # Maximum depth: 765.382364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.145920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.287425; longitude = -117.702974; captureRadius = 10; duration = 101; initialDepth = 710.145920; finalDepth = 715.256594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.236444 # Actual altitude: 55.236444 # Commanded vehicle depth:710.14592 # Seafloor depth:-765.382364 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.09; MB_Bottom_Detect_Filter_Max_Range = 220.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.321306 meters # Minimum depth: 762.870149 meters looking forward 100.000000 meters along route # Maximum depth: 763.534129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.870149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.288069; longitude = -117.702202; captureRadius = 10; duration = 101; initialDepth = 712.870149; finalDepth = 710.145920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.236444 # Actual altitude: 55.236444 # Commanded vehicle depth:712.870149 # Seafloor depth:-763.224420 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.09; MB_Bottom_Detect_Filter_Max_Range = 220.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.320925 meters # Minimum depth: 758.966369 meters looking forward 100.000000 meters along route # Maximum depth: 762.864606 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.966369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.288713; longitude = -117.701430; captureRadius = 10; duration = 101; initialDepth = 708.966369; finalDepth = 712.870149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.898237 # Actual altitude: 53.898237 # Commanded vehicle depth:708.966369 # Seafloor depth:-762.864606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.56; MB_Bottom_Detect_Filter_Max_Range = 215.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.320544 meters # Minimum depth: 735.652255 meters looking forward 100.000000 meters along route # Maximum depth: 754.836862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.652255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.289358; longitude = -117.700659; captureRadius = 10; duration = 101; initialDepth = 685.652255; finalDepth = 708.966369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.184607 # Actual altitude: 69.184607 # Commanded vehicle depth:685.652255 # Seafloor depth:-754.836862 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 276.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.67; MB_Bottom_Detect_Filter_Max_Range = 276.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.320163 meters # Minimum depth: 732.937343 meters looking forward 100.000000 meters along route # Maximum depth: 736.127731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.937343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.290002; longitude = -117.699887; captureRadius = 10; duration = 101; initialDepth = 682.937343; finalDepth = 685.652255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.184607 # Actual altitude: 69.184607 # Commanded vehicle depth:682.937343 # Seafloor depth:-735.185645 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 276.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.67; MB_Bottom_Detect_Filter_Max_Range = 276.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.319782 meters # Minimum depth: 739.937765 meters looking forward 100.000000 meters along route # Maximum depth: 741.936979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.937765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.290646; longitude = -117.699116; captureRadius = 10; duration = 101; initialDepth = 689.937765; finalDepth = 682.937343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.248302 # Actual altitude: 52.248302 # Commanded vehicle depth:689.937765 # Seafloor depth:-739.937765 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 208.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.226350 meters # Minimum depth: 713.956243 meters looking forward 100.000000 meters along route # Maximum depth: 740.200548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 663.956243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.291291; longitude = -117.698344; captureRadius = 10; duration = 102; initialDepth = 663.956243; finalDepth = 689.937765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.2443050000001 # Actual altitude: 76.2443050000001 # Commanded vehicle depth:663.956243 # Seafloor depth:-740.200548 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 304.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.50; MB_Bottom_Detect_Filter_Max_Range = 304.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 100.412071 meters # Minimum depth: 703.489653 meters looking forward 100.000000 meters along route # Maximum depth: 713.779316 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.489653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.291941; longitude = -117.697565; captureRadius = 10; duration = 100; initialDepth = 653.489653; finalDepth = 663.956243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.2443050000001 # Actual altitude: 76.2443050000001 # Commanded vehicle depth:653.489653 # Seafloor depth:-713.779316 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 304.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.50; MB_Bottom_Detect_Filter_Max_Range = 304.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.318639 meters # Minimum depth: 700.965727 meters looking forward 100.000000 meters along route # Maximum depth: 703.718581 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 650.965727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.292579; longitude = -117.696801; captureRadius = 10; duration = 101; initialDepth = 650.965727; finalDepth = 653.489653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.289663 # Actual altitude: 60.289663 # Commanded vehicle depth:650.965727 # Seafloor depth:-703.411703 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.12; MB_Bottom_Detect_Filter_Max_Range = 241.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.318258 meters # Minimum depth: 704.259126 meters looking forward 100.000000 meters along route # Maximum depth: 714.337024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 654.259126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.293224; longitude = -117.696029; captureRadius = 10; duration = 101; initialDepth = 654.259126; finalDepth = 650.965727; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.445976 # Actual altitude: 52.445976 # Commanded vehicle depth:654.259126 # Seafloor depth:-704.259126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.98; MB_Bottom_Detect_Filter_Max_Range = 209.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.317877 meters # Minimum depth: 711.534241 meters looking forward 100.000000 meters along route # Maximum depth: 720.306412 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 661.534241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.293868; longitude = -117.695257; captureRadius = 10; duration = 101; initialDepth = 661.534241; finalDepth = 654.259126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.232878 # Actual altitude: 54.232878 # Commanded vehicle depth:661.534241 # Seafloor depth:-715.767119 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.69; MB_Bottom_Detect_Filter_Max_Range = 216.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.317496 meters # Minimum depth: 692.907976 meters looking forward 100.000000 meters along route # Maximum depth: 707.168523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.907976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294512; longitude = -117.694486; captureRadius = 10; duration = 101; initialDepth = 642.907976; finalDepth = 661.534241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.2605470000001 # Actual altitude: 64.2605470000001 # Commanded vehicle depth:642.907976 # Seafloor depth:-707.168523 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 257.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.70; MB_Bottom_Detect_Filter_Max_Range = 257.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 192.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.317115 meters # Minimum depth: 679.125956 meters looking forward 100.000000 meters along route # Maximum depth: 688.921113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 629.125956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.295157; longitude = -117.693714; captureRadius = 10; duration = 101; initialDepth = 629.125956; finalDepth = 642.907976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.2605470000001 # Actual altitude: 64.2605470000001 # Commanded vehicle depth:629.125956 # Seafloor depth:-688.921113 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 257.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.70; MB_Bottom_Detect_Filter_Max_Range = 257.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 192.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.316734 meters # Minimum depth: 675.381372 meters looking forward 100.000000 meters along route # Maximum depth: 679.018192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 625.381372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.295801; longitude = -117.692943; captureRadius = 10; duration = 101; initialDepth = 625.381372; finalDepth = 629.125956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.795157 # Actual altitude: 59.795157 # Commanded vehicle depth:625.381372 # Seafloor depth:-678.505335 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.92; MB_Bottom_Detect_Filter_Max_Range = 239.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 179.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.316353 meters # Minimum depth: 674.762827 meters looking forward 100.000000 meters along route # Maximum depth: 677.519673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.762827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296445; longitude = -117.692171; captureRadius = 10; duration = 101; initialDepth = 624.762827; finalDepth = 625.381372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1239629999999 # Actual altitude: 53.1239629999999 # Commanded vehicle depth:624.762827 # Seafloor depth:-677.519673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 212.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.315972 meters # Minimum depth: 671.500770 meters looking forward 100.000000 meters along route # Maximum depth: 673.433275 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.500770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.297090; longitude = -117.691399; captureRadius = 10; duration = 101; initialDepth = 621.500770; finalDepth = 624.762827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.756846 # Actual altitude: 52.756846 # Commanded vehicle depth:621.50077 # Seafloor depth:-673.433275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.10; MB_Bottom_Detect_Filter_Max_Range = 211.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.315592 meters # Minimum depth: 669.146696 meters looking forward 100.000000 meters along route # Maximum depth: 673.461148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.146696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.297734; longitude = -117.690628; captureRadius = 10; duration = 101; initialDepth = 619.146696; finalDepth = 621.500770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2747489999999 # Actual altitude: 53.2747489999999 # Commanded vehicle depth:619.146696 # Seafloor depth:-672.421445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.31; MB_Bottom_Detect_Filter_Max_Range = 213.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.315210 meters # Minimum depth: 669.996887 meters looking forward 100.000000 meters along route # Maximum depth: 671.608891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.996887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.298378; longitude = -117.689856; captureRadius = 10; duration = 101; initialDepth = 619.996887; finalDepth = 619.146696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2747489999999 # Actual altitude: 53.2747489999999 # Commanded vehicle depth:619.996887 # Seafloor depth:-670.333977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.31; MB_Bottom_Detect_Filter_Max_Range = 213.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.314829 meters # Minimum depth: 669.297255 meters looking forward 100.000000 meters along route # Maximum depth: 671.974133 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.297255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.299023; longitude = -117.689084; captureRadius = 10; duration = 101; initialDepth = 619.297255; finalDepth = 619.996887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6768780000001 # Actual altitude: 52.6768780000001 # Commanded vehicle depth:619.297255 # Seafloor depth:-671.974133 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.07; MB_Bottom_Detect_Filter_Max_Range = 210.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.314449 meters # Minimum depth: 668.353771 meters looking forward 100.000000 meters along route # Maximum depth: 669.170602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 618.353771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.299667; longitude = -117.688313; captureRadius = 10; duration = 101; initialDepth = 618.353771; finalDepth = 619.297255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6768780000001 # Actual altitude: 52.6768780000001 # Commanded vehicle depth:618.353771 # Seafloor depth:-669.170602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.07; MB_Bottom_Detect_Filter_Max_Range = 210.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.314068 meters # Minimum depth: 665.288649 meters looking forward 100.000000 meters along route # Maximum depth: 667.866631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 615.288649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.300311; longitude = -117.687541; captureRadius = 10; duration = 101; initialDepth = 615.288649; finalDepth = 618.353771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.560837 # Actual altitude: 52.560837 # Commanded vehicle depth:615.288649 # Seafloor depth:-667.849486 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.02; MB_Bottom_Detect_Filter_Max_Range = 210.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.313686 meters # Minimum depth: 662.219053 meters looking forward 100.000000 meters along route # Maximum depth: 667.787903 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.219053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.300956; longitude = -117.686769; captureRadius = 10; duration = 101; initialDepth = 612.219053; finalDepth = 615.288649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.265843 # Actual altitude: 55.265843 # Commanded vehicle depth:612.219053 # Seafloor depth:-667.484896 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.11; MB_Bottom_Detect_Filter_Max_Range = 221.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.313306 meters # Minimum depth: 661.121620 meters looking forward 100.000000 meters along route # Maximum depth: 663.900314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 611.121620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.301600; longitude = -117.685998; captureRadius = 10; duration = 101; initialDepth = 611.121620; finalDepth = 612.219053; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.265843 # Actual altitude: 55.265843 # Commanded vehicle depth:611.12162 # Seafloor depth:-661.609306 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.11; MB_Bottom_Detect_Filter_Max_Range = 221.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.312925 meters # Minimum depth: 655.787064 meters looking forward 100.000000 meters along route # Maximum depth: 664.310625 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.787064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302244; longitude = -117.685226; captureRadius = 10; duration = 101; initialDepth = 605.787064; finalDepth = 611.121620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.523561 # Actual altitude: 58.523561 # Commanded vehicle depth:605.787064 # Seafloor depth:-664.310625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.41; MB_Bottom_Detect_Filter_Max_Range = 234.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.312545 meters # Minimum depth: 646.980288 meters looking forward 100.000000 meters along route # Maximum depth: 655.670397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.980288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302889; longitude = -117.684455; captureRadius = 10; duration = 101; initialDepth = 596.980288; finalDepth = 605.787064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.690109 # Actual altitude: 58.690109 # Commanded vehicle depth:596.980288 # Seafloor depth:-655.670397 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.48; MB_Bottom_Detect_Filter_Max_Range = 234.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.312163 meters # Minimum depth: 633.621084 meters looking forward 100.000000 meters along route # Maximum depth: 644.964667 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.621084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303533; longitude = -117.683683; captureRadius = 10; duration = 101; initialDepth = 583.621084; finalDepth = 596.980288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.343583 # Actual altitude: 61.343583 # Commanded vehicle depth:583.621084 # Seafloor depth:-644.964667 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 245.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.54; MB_Bottom_Detect_Filter_Max_Range = 245.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 184.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.311783 meters # Minimum depth: 622.892935 meters looking forward 100.000000 meters along route # Maximum depth: 632.809602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.892935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.304177; longitude = -117.682911; captureRadius = 10; duration = 101; initialDepth = 572.892935; finalDepth = 583.621084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.343583 # Actual altitude: 61.343583 # Commanded vehicle depth:572.892935 # Seafloor depth:-632.809602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 245.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.54; MB_Bottom_Detect_Filter_Max_Range = 245.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 184.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.311401 meters # Minimum depth: 611.894320 meters looking forward 100.000000 meters along route # Maximum depth: 620.060895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.894320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.304822; longitude = -117.682140; captureRadius = 10; duration = 101; initialDepth = 561.894320; finalDepth = 572.892935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.9166670000001 # Actual altitude: 59.9166670000001 # Commanded vehicle depth:561.89432 # Seafloor depth:-620.060895 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.97; MB_Bottom_Detect_Filter_Max_Range = 239.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 179.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.311021 meters # Minimum depth: 607.894244 meters looking forward 100.000000 meters along route # Maximum depth: 613.796510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.894244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305466; longitude = -117.681368; captureRadius = 10; duration = 101; initialDepth = 557.894244; finalDepth = 561.894320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.166575 # Actual altitude: 58.166575 # Commanded vehicle depth:557.894244 # Seafloor depth:-613.796510 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.27; MB_Bottom_Detect_Filter_Max_Range = 232.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.310640 meters # Minimum depth: 602.261879 meters looking forward 100.000000 meters along route # Maximum depth: 607.877561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.261879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306110; longitude = -117.680596; captureRadius = 10; duration = 101; initialDepth = 552.261879; finalDepth = 557.894244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.9022660000001 # Actual altitude: 55.9022660000001 # Commanded vehicle depth:552.261879 # Seafloor depth:-607.877561 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.36; MB_Bottom_Detect_Filter_Max_Range = 223.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.310259 meters # Minimum depth: 600.945585 meters looking forward 100.000000 meters along route # Maximum depth: 603.458009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.945585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306755; longitude = -117.679825; captureRadius = 10; duration = 101; initialDepth = 550.945585; finalDepth = 552.261879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.615682 # Actual altitude: 55.615682 # Commanded vehicle depth:550.945585 # Seafloor depth:-603.458009 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.25; MB_Bottom_Detect_Filter_Max_Range = 222.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.309879 meters # Minimum depth: 600.878481 meters looking forward 100.000000 meters along route # Maximum depth: 601.997120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.878481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.307399; longitude = -117.679053; captureRadius = 10; duration = 101; initialDepth = 550.878481; finalDepth = 550.945585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5124239999999 # Actual altitude: 52.5124239999999 # Commanded vehicle depth:550.878481 # Seafloor depth:-600.898853 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.00; MB_Bottom_Detect_Filter_Max_Range = 210.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.309498 meters # Minimum depth: 598.583737 meters looking forward 100.000000 meters along route # Maximum depth: 600.207220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.583737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308043; longitude = -117.678282; captureRadius = 10; duration = 101; initialDepth = 548.583737; finalDepth = 550.878481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4561209999999 # Actual altitude: 51.4561209999999 # Commanded vehicle depth:548.583737 # Seafloor depth:-600.039858 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.172790 meters # Minimum depth: 594.086592 meters looking forward 100.000000 meters along route # Maximum depth: 599.793233 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.086592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308688; longitude = -117.677510; captureRadius = 10; duration = 102; initialDepth = 544.086592; finalDepth = 548.583737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.706641 # Actual altitude: 55.706641 # Commanded vehicle depth:544.086592 # Seafloor depth:-599.793233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.28; MB_Bottom_Detect_Filter_Max_Range = 222.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 100.445063 meters # Minimum depth: 594.111746 meters looking forward 100.000000 meters along route # Maximum depth: 596.764415 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.111746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309338; longitude = -117.676732; captureRadius = 10; duration = 100; initialDepth = 544.111746; finalDepth = 544.086592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.706641 # Actual altitude: 55.706641 # Commanded vehicle depth:544.111746 # Seafloor depth:-594.111746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.28; MB_Bottom_Detect_Filter_Max_Range = 222.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.308355 meters # Minimum depth: 597.155461 meters looking forward 100.000000 meters along route # Maximum depth: 600.475809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.155461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309976; longitude = -117.675967; captureRadius = 10; duration = 101; initialDepth = 547.155461; finalDepth = 544.111746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.711409 # Actual altitude: 50.711409 # Commanded vehicle depth:547.155461 # Seafloor depth:-597.866870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.307974 meters # Minimum depth: 597.439078 meters looking forward 100.000000 meters along route # Maximum depth: 600.040906 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.439078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.310621; longitude = -117.675195; captureRadius = 10; duration = 101; initialDepth = 547.439078; finalDepth = 547.155461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.711409 # Actual altitude: 50.711409 # Commanded vehicle depth:547.439078 # Seafloor depth:-597.439078 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.307594 meters # Minimum depth: 592.426613 meters looking forward 100.000000 meters along route # Maximum depth: 597.894467 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.426613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311265; longitude = -117.674423; captureRadius = 10; duration = 101; initialDepth = 542.426613; finalDepth = 547.439078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.428528 # Actual altitude: 55.428528 # Commanded vehicle depth:542.426613 # Seafloor depth:-597.855141 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.17; MB_Bottom_Detect_Filter_Max_Range = 221.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.307213 meters # Minimum depth: 588.770060 meters looking forward 100.000000 meters along route # Maximum depth: 592.052025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.770060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311909; longitude = -117.673652; captureRadius = 10; duration = 101; initialDepth = 538.770060; finalDepth = 542.426613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.428528 # Actual altitude: 55.428528 # Commanded vehicle depth:538.77006 # Seafloor depth:-592.052025 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.17; MB_Bottom_Detect_Filter_Max_Range = 221.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.306833 meters # Minimum depth: 584.920254 meters looking forward 100.000000 meters along route # Maximum depth: 587.074804 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.920254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312554; longitude = -117.672880; captureRadius = 10; duration = 101; initialDepth = 534.920254; finalDepth = 538.770060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.281965 # Actual altitude: 53.281965 # Commanded vehicle depth:534.920254 # Seafloor depth:-587.074804 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.31; MB_Bottom_Detect_Filter_Max_Range = 213.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.306451 meters # Minimum depth: 583.001595 meters looking forward 100.000000 meters along route # Maximum depth: 584.555502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.001595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.313198; longitude = -117.672109; captureRadius = 10; duration = 101; initialDepth = 533.001595; finalDepth = 534.920254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.15455 # Actual altitude: 52.15455 # Commanded vehicle depth:533.001595 # Seafloor depth:-584.555502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 208.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.306071 meters # Minimum depth: 582.141100 meters looking forward 100.000000 meters along route # Maximum depth: 583.402652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.141100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.313842; longitude = -117.671337; captureRadius = 10; duration = 101; initialDepth = 532.141100; finalDepth = 533.001595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5539070000001 # Actual altitude: 51.5539070000001 # Commanded vehicle depth:532.1411 # Seafloor depth:-583.402652 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.305691 meters # Minimum depth: 576.990479 meters looking forward 100.000000 meters along route # Maximum depth: 581.758212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 526.990479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314487; longitude = -117.670565; captureRadius = 10; duration = 101; initialDepth = 526.990479; finalDepth = 532.141100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7677329999999 # Actual altitude: 54.7677329999999 # Commanded vehicle depth:526.990479 # Seafloor depth:-581.758212 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.91; MB_Bottom_Detect_Filter_Max_Range = 219.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.305309 meters # Minimum depth: 573.159789 meters looking forward 100.000000 meters along route # Maximum depth: 578.206353 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.159789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315131; longitude = -117.669794; captureRadius = 10; duration = 101; initialDepth = 523.159789; finalDepth = 526.990479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.046564 # Actual altitude: 55.046564 # Commanded vehicle depth:523.159789 # Seafloor depth:-578.206353 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.02; MB_Bottom_Detect_Filter_Max_Range = 220.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.304929 meters # Minimum depth: 573.666864 meters looking forward 100.000000 meters along route # Maximum depth: 576.148880 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.666864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315775; longitude = -117.669022; captureRadius = 10; duration = 101; initialDepth = 523.666864; finalDepth = 523.159789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.046564 # Actual altitude: 55.046564 # Commanded vehicle depth:523.666864 # Seafloor depth:-576.148880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.02; MB_Bottom_Detect_Filter_Max_Range = 220.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.304548 meters # Minimum depth: 570.798101 meters looking forward 100.000000 meters along route # Maximum depth: 574.937894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.798101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.316420; longitude = -117.668250; captureRadius = 10; duration = 101; initialDepth = 520.798101; finalDepth = 523.666864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1397930000001 # Actual altitude: 54.1397930000001 # Commanded vehicle depth:520.798101 # Seafloor depth:-574.937894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.66; MB_Bottom_Detect_Filter_Max_Range = 216.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.304168 meters # Minimum depth: 568.323918 meters looking forward 100.000000 meters along route # Maximum depth: 571.354437 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.323918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317064; longitude = -117.667479; captureRadius = 10; duration = 101; initialDepth = 518.323918; finalDepth = 520.798101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1397930000001 # Actual altitude: 54.1397930000001 # Commanded vehicle depth:518.323918 # Seafloor depth:-570.875274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.66; MB_Bottom_Detect_Filter_Max_Range = 216.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.303786 meters # Minimum depth: 566.745505 meters looking forward 100.000000 meters along route # Maximum depth: 569.202846 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 516.745505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317709; longitude = -117.666707; captureRadius = 10; duration = 101; initialDepth = 516.745505; finalDepth = 518.323918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5513559999999 # Actual altitude: 52.5513559999999 # Commanded vehicle depth:516.745505 # Seafloor depth:-569.202846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.02; MB_Bottom_Detect_Filter_Max_Range = 210.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.303407 meters # Minimum depth: 564.132600 meters looking forward 100.000000 meters along route # Maximum depth: 566.416515 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.132600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318353; longitude = -117.665936; captureRadius = 10; duration = 101; initialDepth = 514.132600; finalDepth = 516.745505; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.457341 # Actual altitude: 52.457341 # Commanded vehicle depth:514.1326 # Seafloor depth:-566.416515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.98; MB_Bottom_Detect_Filter_Max_Range = 209.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.303025 meters # Minimum depth: 557.953525 meters looking forward 100.000000 meters along route # Maximum depth: 563.021447 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.953525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318997; longitude = -117.665164; captureRadius = 10; duration = 101; initialDepth = 507.953525; finalDepth = 514.132600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.067922 # Actual altitude: 55.067922 # Commanded vehicle depth:507.953525 # Seafloor depth:-563.021447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.03; MB_Bottom_Detect_Filter_Max_Range = 220.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.302645 meters # Minimum depth: 544.372412 meters looking forward 100.000000 meters along route # Maximum depth: 556.276604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.372412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.319642; longitude = -117.664392; captureRadius = 10; duration = 101; initialDepth = 494.372412; finalDepth = 507.953525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.904192 # Actual altitude: 61.904192 # Commanded vehicle depth:494.372412 # Seafloor depth:-556.276604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.76; MB_Bottom_Detect_Filter_Max_Range = 247.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 185.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.302264 meters # Minimum depth: 530.931897 meters looking forward 100.000000 meters along route # Maximum depth: 544.161305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.931897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.320286; longitude = -117.663621; captureRadius = 10; duration = 101; initialDepth = 480.931897; finalDepth = 494.372412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.2294079999999 # Actual altitude: 63.2294079999999 # Commanded vehicle depth:480.931897 # Seafloor depth:-544.161305 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.29; MB_Bottom_Detect_Filter_Max_Range = 252.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 189.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.301884 meters # Minimum depth: 510.168059 meters looking forward 100.000000 meters along route # Maximum depth: 527.037012 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 460.168059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.320930; longitude = -117.662849; captureRadius = 10; duration = 101; initialDepth = 460.168059; finalDepth = 480.931897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.868953 # Actual altitude: 66.868953 # Commanded vehicle depth:460.168059 # Seafloor depth:-527.037012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 267.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.75; MB_Bottom_Detect_Filter_Max_Range = 267.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.301503 meters # Minimum depth: 497.217207 meters looking forward 100.000000 meters along route # Maximum depth: 507.905826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 447.217207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.321575; longitude = -117.662077; captureRadius = 10; duration = 101; initialDepth = 447.217207; finalDepth = 460.168059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.868953 # Actual altitude: 66.868953 # Commanded vehicle depth:447.217207 # Seafloor depth:-507.905826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 267.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.75; MB_Bottom_Detect_Filter_Max_Range = 267.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.301122 meters # Minimum depth: 480.838931 meters looking forward 100.000000 meters along route # Maximum depth: 493.359461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 430.838931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.322219; longitude = -117.661306; captureRadius = 10; duration = 101; initialDepth = 430.838931; finalDepth = 447.217207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.52053 # Actual altitude: 62.52053 # Commanded vehicle depth:430.838931 # Seafloor depth:-493.359461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 250.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 187.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.300742 meters # Minimum depth: 469.812390 meters looking forward 100.000000 meters along route # Maximum depth: 478.859059 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.812390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.322863; longitude = -117.660534; captureRadius = 10; duration = 101; initialDepth = 419.812390; finalDepth = 430.838931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.52053 # Actual altitude: 62.52053 # Commanded vehicle depth:419.81239 # Seafloor depth:-478.773428 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 250.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 187.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.300361 meters # Minimum depth: 457.132399 meters looking forward 100.000000 meters along route # Maximum depth: 469.807478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 407.132399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323508; longitude = -117.659762; captureRadius = 10; duration = 101; initialDepth = 407.132399; finalDepth = 419.812390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.675079 # Actual altitude: 62.675079 # Commanded vehicle depth:407.132399 # Seafloor depth:-469.807478 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.07; MB_Bottom_Detect_Filter_Max_Range = 250.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 188.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.299981 meters # Minimum depth: 445.109269 meters looking forward 100.000000 meters along route # Maximum depth: 456.886819 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.109269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.324152; longitude = -117.658991; captureRadius = 10; duration = 101; initialDepth = 395.109269; finalDepth = 407.132399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.675079 # Actual altitude: 62.675079 # Commanded vehicle depth:395.109269 # Seafloor depth:-456.886819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.07; MB_Bottom_Detect_Filter_Max_Range = 250.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 188.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.299600 meters # Minimum depth: 438.008449 meters looking forward 100.000000 meters along route # Maximum depth: 444.643015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.008449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.324796; longitude = -117.658219; captureRadius = 10; duration = 101; initialDepth = 388.008449; finalDepth = 395.109269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.77755 # Actual altitude: 61.77755 # Commanded vehicle depth:388.008449 # Seafloor depth:-444.643015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.71; MB_Bottom_Detect_Filter_Max_Range = 247.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 185.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.299219 meters # Minimum depth: 430.254837 meters looking forward 100.000000 meters along route # Maximum depth: 435.922007 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.254837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.325441; longitude = -117.657448; captureRadius = 10; duration = 101; initialDepth = 380.254837; finalDepth = 388.008449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.634566 # Actual altitude: 56.634566 # Commanded vehicle depth:380.254837 # Seafloor depth:-435.922007 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.65; MB_Bottom_Detect_Filter_Max_Range = 226.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.119246 meters # Minimum depth: 426.686723 meters looking forward 100.000000 meters along route # Maximum depth: 445.600644 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 376.686723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.326085; longitude = -117.656676; captureRadius = 10; duration = 102; initialDepth = 376.686723; finalDepth = 380.254837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.66717 # Actual altitude: 55.66717 # Commanded vehicle depth:376.686723 # Seafloor depth:-429.390095 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.27; MB_Bottom_Detect_Filter_Max_Range = 222.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 100.478052 meters # Minimum depth: 410.262264 meters looking forward 100.000000 meters along route # Maximum depth: 446.160246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 360.262264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.326734; longitude = -117.655898; captureRadius = 10; duration = 100; initialDepth = 360.262264; finalDepth = 376.686723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.897982 # Actual altitude: 85.897982 # Commanded vehicle depth:360.262264 # Seafloor depth:-446.160246 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 343.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.36; MB_Bottom_Detect_Filter_Max_Range = 343.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.298077 meters # Minimum depth: 394.081632 meters looking forward 100.000000 meters along route # Maximum depth: 403.541167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 344.081632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.327374; longitude = -117.655133; captureRadius = 10; duration = 101; initialDepth = 344.081632; finalDepth = 360.262264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.897982 # Actual altitude: 85.897982 # Commanded vehicle depth:344.081632 # Seafloor depth:-403.541167 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 343.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.36; MB_Bottom_Detect_Filter_Max_Range = 343.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.297698 meters # Minimum depth: 383.475659 meters looking forward 100.000000 meters along route # Maximum depth: 394.011915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 333.475659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.328018; longitude = -117.654361; captureRadius = 10; duration = 101; initialDepth = 333.475659; finalDepth = 344.081632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.536256 # Actual altitude: 60.536256 # Commanded vehicle depth:333.475659 # Seafloor depth:-394.011915 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.21; MB_Bottom_Detect_Filter_Max_Range = 242.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.297317 meters # Minimum depth: 356.917696 meters looking forward 100.000000 meters along route # Maximum depth: 374.887415 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 306.917696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.328662; longitude = -117.653589; captureRadius = 10; duration = 101; initialDepth = 306.917696; finalDepth = 333.475659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.969719 # Actual altitude: 67.969719 # Commanded vehicle depth:306.917696 # Seafloor depth:-374.887415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 271.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.19; MB_Bottom_Detect_Filter_Max_Range = 271.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 112.552127 meters # Minimum depth: 336.443518 meters looking forward 100.000000 meters along route # Maximum depth: 355.462561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 286.443518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.329307; longitude = -117.652818; captureRadius = 10; duration = 112; initialDepth = 286.443518; finalDepth = 306.917696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.019043 # Actual altitude: 69.019043 # Commanded vehicle depth:286.443518 # Seafloor depth:-355.462561 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 276.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.61; MB_Bottom_Detect_Filter_Max_Range = 276.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 36.817914 meters # Minimum depth: 328.533768 meters looking forward 100.000000 meters along route # Maximum depth: 343.136589 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 278.533768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.330023; longitude = -117.651960; captureRadius = 10; duration = 36; # abortOnTimeout = True; initialDepth = 278.533768; finalDepth = 286.443518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.019043 # Actual altitude: 69.019043 # Commanded vehicle depth:278.533768 # Seafloor depth:-334.294657 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 276.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.61; MB_Bottom_Detect_Filter_Max_Range = 276.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 101.249014 meters # Minimum depth: 315.397789 meters looking forward 100.000000 meters along route # Maximum depth: 325.502191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 265.397789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.330252; longitude = -117.652247; captureRadius = 10; duration = 101; initialDepth = 265.397789; finalDepth = 278.533768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.104402 # Actual altitude: 60.104402 # Commanded vehicle depth:265.397789 # Seafloor depth:-325.502191 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.04; MB_Bottom_Detect_Filter_Max_Range = 240.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 11.279801 meters # Minimum depth: 314.327108 meters looking forward 100.000000 meters along route # Maximum depth: 321.635452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 264.327108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.330882; longitude = -117.653034; captureRadius = 10; duration = 11; # abortOnTimeout = True; initialDepth = 264.327108; finalDepth = 265.397789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.104402 # Actual altitude: 60.104402 # Commanded vehicle depth:264.327108 # Seafloor depth:-314.327108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.04; MB_Bottom_Detect_Filter_Max_Range = 240.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.518427 meters # Minimum depth: 315.907439 meters looking forward 100.000000 meters along route # Maximum depth: 332.201191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 265.907439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.330810; longitude = -117.653120; captureRadius = 10; duration = 101; initialDepth = 265.907439; finalDepth = 264.327108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:265.907439 # Seafloor depth:-315.907439 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.518811 meters # Minimum depth: 336.757841 meters looking forward 100.000000 meters along route # Maximum depth: 347.124297 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 286.757841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.330166; longitude = -117.653895; captureRadius = 10; duration = 101; initialDepth = 286.757841; finalDepth = 265.907439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:286.757841 # Seafloor depth:-336.757841 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.519193 meters # Minimum depth: 346.624378 meters looking forward 100.000000 meters along route # Maximum depth: 355.927508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 296.624378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.329521; longitude = -117.654670; captureRadius = 10; duration = 101; initialDepth = 296.624378; finalDepth = 286.757841; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:296.624378 # Seafloor depth:-346.624378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.519577 meters # Minimum depth: 361.416895 meters looking forward 100.000000 meters along route # Maximum depth: 383.559163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 311.416895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.328877; longitude = -117.655445; captureRadius = 10; duration = 101; initialDepth = 311.416895; finalDepth = 296.624378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:311.416895 # Seafloor depth:-361.416895 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.519959 meters # Minimum depth: 376.535239 meters looking forward 100.000000 meters along route # Maximum depth: 384.524109 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 326.535239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.328233; longitude = -117.656220; captureRadius = 10; duration = 101; initialDepth = 326.535239; finalDepth = 311.416895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.466121 # Actual altitude: 57.466121 # Commanded vehicle depth:326.535239 # Seafloor depth:-384.001360 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.99; MB_Bottom_Detect_Filter_Max_Range = 229.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 172.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.520343 meters # Minimum depth: 385.010096 meters looking forward 100.000000 meters along route # Maximum depth: 394.959008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.010096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.327588; longitude = -117.656995; captureRadius = 10; duration = 101; initialDepth = 335.010096; finalDepth = 326.535239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.466121 # Actual altitude: 57.466121 # Commanded vehicle depth:335.010096 # Seafloor depth:-385.010096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.99; MB_Bottom_Detect_Filter_Max_Range = 229.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 172.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.520726 meters # Minimum depth: 398.633614 meters looking forward 100.000000 meters along route # Maximum depth: 405.220572 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 348.633614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.326944; longitude = -117.657770; captureRadius = 10; duration = 101; initialDepth = 348.633614; finalDepth = 335.010096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:348.633614 # Seafloor depth:-398.633614 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.521109 meters # Minimum depth: 406.515302 meters looking forward 100.000000 meters along route # Maximum depth: 413.939488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 356.515302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.326300; longitude = -117.658545; captureRadius = 10; duration = 101; initialDepth = 356.515302; finalDepth = 348.633614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:356.515302 # Seafloor depth:-406.515302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.521492 meters # Minimum depth: 417.078269 meters looking forward 100.000000 meters along route # Maximum depth: 425.723579 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 367.078269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.325655; longitude = -117.659320; captureRadius = 10; duration = 101; initialDepth = 367.078269; finalDepth = 356.515302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:367.078269 # Seafloor depth:-417.078269 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.521875 meters # Minimum depth: 427.166777 meters looking forward 100.000000 meters along route # Maximum depth: 438.784494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.166777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.325011; longitude = -117.660095; captureRadius = 10; duration = 101; initialDepth = 377.166777; finalDepth = 367.078269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:377.166777 # Seafloor depth:-427.166777 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.522258 meters # Minimum depth: 439.226451 meters looking forward 100.000000 meters along route # Maximum depth: 447.249408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.226451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.324367; longitude = -117.660870; captureRadius = 10; duration = 101; initialDepth = 389.226451; finalDepth = 377.166777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:389.226451 # Seafloor depth:-439.226451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.522642 meters # Minimum depth: 448.435071 meters looking forward 100.000000 meters along route # Maximum depth: 458.071216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.435071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323722; longitude = -117.661645; captureRadius = 10; duration = 101; initialDepth = 398.435071; finalDepth = 389.226451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:398.435071 # Seafloor depth:-448.435071 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 102.214540 meters # Minimum depth: 458.612321 meters looking forward 100.000000 meters along route # Maximum depth: 476.587714 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 408.612321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323078; longitude = -117.662420; captureRadius = 10; duration = 102; initialDepth = 408.612321; finalDepth = 398.435071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:408.612321 # Seafloor depth:-458.612321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 100.831892 meters # Minimum depth: 476.879660 meters looking forward 100.000000 meters along route # Maximum depth: 491.844557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 426.879660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.322429; longitude = -117.663201; captureRadius = 10; duration = 100; initialDepth = 426.879660; finalDepth = 408.612321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:426.87966 # Seafloor depth:-476.879660 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.523791 meters # Minimum depth: 493.360891 meters looking forward 100.000000 meters along route # Maximum depth: 508.579405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.360891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.321789; longitude = -117.663970; captureRadius = 10; duration = 101; initialDepth = 443.360891; finalDepth = 426.879660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:443.360891 # Seafloor depth:-493.360891 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.524174 meters # Minimum depth: 509.353398 meters looking forward 100.000000 meters along route # Maximum depth: 520.297079 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.353398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.321145; longitude = -117.664745; captureRadius = 10; duration = 101; initialDepth = 459.353398; finalDepth = 443.360891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:459.353398 # Seafloor depth:-509.353398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.524558 meters # Minimum depth: 522.720527 meters looking forward 100.000000 meters along route # Maximum depth: 532.264339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.720527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.320501; longitude = -117.665520; captureRadius = 10; duration = 101; initialDepth = 472.720527; finalDepth = 459.353398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:472.720527 # Seafloor depth:-522.720527 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.524940 meters # Minimum depth: 533.481582 meters looking forward 100.000000 meters along route # Maximum depth: 543.047758 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.481582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.319856; longitude = -117.666295; captureRadius = 10; duration = 101; initialDepth = 483.481582; finalDepth = 472.720527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:483.481582 # Seafloor depth:-533.481582 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.525324 meters # Minimum depth: 543.122774 meters looking forward 100.000000 meters along route # Maximum depth: 546.828038 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 493.122774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.319212; longitude = -117.667070; captureRadius = 10; duration = 101; initialDepth = 493.122774; finalDepth = 483.481582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:493.122774 # Seafloor depth:-543.122774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.525707 meters # Minimum depth: 547.365877 meters looking forward 100.000000 meters along route # Maximum depth: 552.969372 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 497.365877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318568; longitude = -117.667845; captureRadius = 10; duration = 101; initialDepth = 497.365877; finalDepth = 493.122774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:497.365877 # Seafloor depth:-547.365877 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.526090 meters # Minimum depth: 553.499371 meters looking forward 100.000000 meters along route # Maximum depth: 559.262969 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.499371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317923; longitude = -117.668620; captureRadius = 10; duration = 101; initialDepth = 503.499371; finalDepth = 497.365877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:503.499371 # Seafloor depth:-553.499371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.526474 meters # Minimum depth: 560.061442 meters looking forward 100.000000 meters along route # Maximum depth: 564.072660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 510.061442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317279; longitude = -117.669395; captureRadius = 10; duration = 101; initialDepth = 510.061442; finalDepth = 503.499371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0654619999999 # Actual altitude: 50.0654619999999 # Commanded vehicle depth:510.061442 # Seafloor depth:-560.126904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.526856 meters # Minimum depth: 564.649005 meters looking forward 100.000000 meters along route # Maximum depth: 566.429351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.649005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.316635; longitude = -117.670170; captureRadius = 10; duration = 101; initialDepth = 514.649005; finalDepth = 510.061442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0654619999999 # Actual altitude: 50.0654619999999 # Commanded vehicle depth:514.649005 # Seafloor depth:-564.649005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.527240 meters # Minimum depth: 566.552421 meters looking forward 100.000000 meters along route # Maximum depth: 571.636573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 516.552421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315990; longitude = -117.670945; captureRadius = 10; duration = 101; initialDepth = 516.552421; finalDepth = 514.649005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:516.552421 # Seafloor depth:-566.552421 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.527624 meters # Minimum depth: 572.662923 meters looking forward 100.000000 meters along route # Maximum depth: 575.082773 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.662923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315346; longitude = -117.671720; captureRadius = 10; duration = 101; initialDepth = 522.662923; finalDepth = 516.552421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:522.662923 # Seafloor depth:-572.662923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.528006 meters # Minimum depth: 574.779279 meters looking forward 100.000000 meters along route # Maximum depth: 576.996232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 524.779279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314702; longitude = -117.672495; captureRadius = 10; duration = 101; initialDepth = 524.779279; finalDepth = 522.662923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.682664 # Actual altitude: 50.682664 # Commanded vehicle depth:524.779279 # Seafloor depth:-575.461943 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.528390 meters # Minimum depth: 577.687507 meters looking forward 100.000000 meters along route # Maximum depth: 583.284576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.687507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314057; longitude = -117.673270; captureRadius = 10; duration = 101; initialDepth = 527.687507; finalDepth = 524.779279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.682664 # Actual altitude: 50.682664 # Commanded vehicle depth:527.687507 # Seafloor depth:-577.687507 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.528773 meters # Minimum depth: 583.799361 meters looking forward 100.000000 meters along route # Maximum depth: 588.871752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.799361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.313413; longitude = -117.674045; captureRadius = 10; duration = 101; initialDepth = 533.799361; finalDepth = 527.687507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:533.799361 # Seafloor depth:-583.799361 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.529156 meters # Minimum depth: 589.134745 meters looking forward 100.000000 meters along route # Maximum depth: 593.024642 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.134745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312769; longitude = -117.674820; captureRadius = 10; duration = 101; initialDepth = 539.134745; finalDepth = 533.799361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:539.134745 # Seafloor depth:-589.134745 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.529540 meters # Minimum depth: 591.553010 meters looking forward 100.000000 meters along route # Maximum depth: 595.107902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.553010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312124; longitude = -117.675595; captureRadius = 10; duration = 101; initialDepth = 541.553010; finalDepth = 539.134745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5056920000001 # Actual altitude: 51.5056920000001 # Commanded vehicle depth:541.55301 # Seafloor depth:-593.058702 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 206.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.529923 meters # Minimum depth: 591.434207 meters looking forward 100.000000 meters along route # Maximum depth: 594.452841 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.434207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311480; longitude = -117.676370; captureRadius = 10; duration = 101; initialDepth = 541.434207; finalDepth = 541.553010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5056920000001 # Actual altitude: 51.5056920000001 # Commanded vehicle depth:541.434207 # Seafloor depth:-591.434207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 206.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.530306 meters # Minimum depth: 594.009435 meters looking forward 100.000000 meters along route # Maximum depth: 595.995206 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.009435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.310836; longitude = -117.677145; captureRadius = 10; duration = 101; initialDepth = 544.009435; finalDepth = 541.434207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7972159999999 # Actual altitude: 51.7972159999999 # Commanded vehicle depth:544.009435 # Seafloor depth:-595.806651 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.72; MB_Bottom_Detect_Filter_Max_Range = 207.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.530690 meters # Minimum depth: 598.790003 meters looking forward 100.000000 meters along route # Maximum depth: 600.720474 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.790003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.310191; longitude = -117.677920; captureRadius = 10; duration = 101; initialDepth = 548.790003; finalDepth = 544.009435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7972159999999 # Actual altitude: 51.7972159999999 # Commanded vehicle depth:548.790003 # Seafloor depth:-598.790003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.72; MB_Bottom_Detect_Filter_Max_Range = 207.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.531073 meters # Minimum depth: 599.828826 meters looking forward 100.000000 meters along route # Maximum depth: 602.396729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.828826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309547; longitude = -117.678695; captureRadius = 10; duration = 101; initialDepth = 549.828826; finalDepth = 548.790003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:549.828826 # Seafloor depth:-599.828826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.531456 meters # Minimum depth: 602.864400 meters looking forward 100.000000 meters along route # Maximum depth: 605.437802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.864400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308903; longitude = -117.679470; captureRadius = 10; duration = 101; initialDepth = 552.864400; finalDepth = 549.828826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:552.8644 # Seafloor depth:-602.864400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 102.482757 meters # Minimum depth: 605.458316 meters looking forward 100.000000 meters along route # Maximum depth: 610.020321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.458316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308258; longitude = -117.680245; captureRadius = 10; duration = 102; initialDepth = 555.458316; finalDepth = 552.864400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:555.458316 # Seafloor depth:-605.458316 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 100.581306 meters # Minimum depth: 609.160589 meters looking forward 100.000000 meters along route # Maximum depth: 612.627050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.160589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.307608; longitude = -117.681027; captureRadius = 10; duration = 100; initialDepth = 559.160589; finalDepth = 555.458316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5100550000001 # Actual altitude: 50.5100550000001 # Commanded vehicle depth:559.160589 # Seafloor depth:-609.670644 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 202.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.532606 meters # Minimum depth: 613.359446 meters looking forward 100.000000 meters along route # Maximum depth: 616.300326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.359446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306970; longitude = -117.681795; captureRadius = 10; duration = 101; initialDepth = 563.359446; finalDepth = 559.160589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5100550000001 # Actual altitude: 50.5100550000001 # Commanded vehicle depth:563.359446 # Seafloor depth:-613.359446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 202.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.532990 meters # Minimum depth: 616.535280 meters looking forward 100.000000 meters along route # Maximum depth: 620.533727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.535280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306325; longitude = -117.682570; captureRadius = 10; duration = 101; initialDepth = 566.535280; finalDepth = 563.359446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.012157 # Actual altitude: 50.012157 # Commanded vehicle depth:566.53528 # Seafloor depth:-616.547437 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.533373 meters # Minimum depth: 623.300138 meters looking forward 100.000000 meters along route # Maximum depth: 633.964710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.300138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305681; longitude = -117.683345; captureRadius = 10; duration = 101; initialDepth = 573.300138; finalDepth = 566.535280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.012157 # Actual altitude: 50.012157 # Commanded vehicle depth:573.300138 # Seafloor depth:-623.300138 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.533757 meters # Minimum depth: 635.226456 meters looking forward 100.000000 meters along route # Maximum depth: 646.194545 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.226456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305036; longitude = -117.684120; captureRadius = 10; duration = 101; initialDepth = 585.226456; finalDepth = 573.300138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:585.226456 # Seafloor depth:-635.226456 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.534140 meters # Minimum depth: 646.216794 meters looking forward 100.000000 meters along route # Maximum depth: 654.652372 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.216794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.304392; longitude = -117.684895; captureRadius = 10; duration = 101; initialDepth = 596.216794; finalDepth = 585.226456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:596.216794 # Seafloor depth:-646.216794 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.534523 meters # Minimum depth: 656.297288 meters looking forward 100.000000 meters along route # Maximum depth: 664.154111 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 606.297288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303748; longitude = -117.685670; captureRadius = 10; duration = 101; initialDepth = 606.297288; finalDepth = 596.216794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:606.297288 # Seafloor depth:-656.297288 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.534907 meters # Minimum depth: 664.628275 meters looking forward 100.000000 meters along route # Maximum depth: 666.833745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 614.628275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303103; longitude = -117.686445; captureRadius = 10; duration = 101; initialDepth = 614.628275; finalDepth = 606.297288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:614.628275 # Seafloor depth:-664.628275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.535290 meters # Minimum depth: 667.241432 meters looking forward 100.000000 meters along route # Maximum depth: 670.909345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 617.241432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302459; longitude = -117.687220; captureRadius = 10; duration = 101; initialDepth = 617.241432; finalDepth = 614.628275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.951336 # Actual altitude: 50.951336 # Commanded vehicle depth:617.241432 # Seafloor depth:-668.192768 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.535674 meters # Minimum depth: 666.414168 meters looking forward 100.000000 meters along route # Maximum depth: 671.415938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 616.414168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.301815; longitude = -117.687995; captureRadius = 10; duration = 101; initialDepth = 616.414168; finalDepth = 617.241432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.951336 # Actual altitude: 50.951336 # Commanded vehicle depth:616.414168 # Seafloor depth:-666.505734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.536057 meters # Minimum depth: 667.240035 meters looking forward 100.000000 meters along route # Maximum depth: 668.908443 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 617.240035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.301170; longitude = -117.688770; captureRadius = 10; duration = 101; initialDepth = 617.240035; finalDepth = 616.414168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.663221 # Actual altitude: 50.663221 # Commanded vehicle depth:617.240035 # Seafloor depth:-667.903256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.536440 meters # Minimum depth: 668.463509 meters looking forward 100.000000 meters along route # Maximum depth: 671.609663 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 618.463509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.300526; longitude = -117.689545; captureRadius = 10; duration = 101; initialDepth = 618.463509; finalDepth = 617.240035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0707789999999 # Actual altitude: 51.0707789999999 # Commanded vehicle depth:618.463509 # Seafloor depth:-669.534288 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.536824 meters # Minimum depth: 671.647940 meters looking forward 100.000000 meters along route # Maximum depth: 674.312997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.647940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.299882; longitude = -117.690320; captureRadius = 10; duration = 101; initialDepth = 621.647940; finalDepth = 618.463509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0707789999999 # Actual altitude: 51.0707789999999 # Commanded vehicle depth:621.64794 # Seafloor depth:-671.647940 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.537208 meters # Minimum depth: 673.412623 meters looking forward 100.000000 meters along route # Maximum depth: 676.667774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.412623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.299237; longitude = -117.691095; captureRadius = 10; duration = 101; initialDepth = 623.412623; finalDepth = 621.647940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3777299999999 # Actual altitude: 50.3777299999999 # Commanded vehicle depth:623.412623 # Seafloor depth:-673.790353 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.537591 meters # Minimum depth: 676.004314 meters looking forward 100.000000 meters along route # Maximum depth: 679.342577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 626.004314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.298593; longitude = -117.691870; captureRadius = 10; duration = 101; initialDepth = 626.004314; finalDepth = 623.412623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1352419999999 # Actual altitude: 51.1352419999999 # Commanded vehicle depth:626.004314 # Seafloor depth:-677.139556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 204.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.537974 meters # Minimum depth: 679.405951 meters looking forward 100.000000 meters along route # Maximum depth: 680.709557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 629.405951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.297949; longitude = -117.692645; captureRadius = 10; duration = 101; initialDepth = 629.405951; finalDepth = 626.004314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1352419999999 # Actual altitude: 51.1352419999999 # Commanded vehicle depth:629.405951 # Seafloor depth:-679.405951 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 204.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.538358 meters # Minimum depth: 679.539857 meters looking forward 100.000000 meters along route # Maximum depth: 681.914786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 629.539857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.297304; longitude = -117.693420; captureRadius = 10; duration = 101; initialDepth = 629.539857; finalDepth = 629.405951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.648398 # Actual altitude: 50.648398 # Commanded vehicle depth:629.539857 # Seafloor depth:-680.188255 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.538742 meters # Minimum depth: 679.445476 meters looking forward 100.000000 meters along route # Maximum depth: 683.485037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 629.445476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296660; longitude = -117.694195; captureRadius = 10; duration = 101; initialDepth = 629.445476; finalDepth = 629.539857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.648398 # Actual altitude: 50.648398 # Commanded vehicle depth:629.445476 # Seafloor depth:-679.445476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.539125 meters # Minimum depth: 685.408216 meters looking forward 100.000000 meters along route # Maximum depth: 689.719477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.408216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296016; longitude = -117.694970; captureRadius = 10; duration = 101; initialDepth = 635.408216; finalDepth = 629.445476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:635.408216 # Seafloor depth:-685.408216 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.539508 meters # Minimum depth: 689.439276 meters looking forward 100.000000 meters along route # Maximum depth: 694.265685 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 639.439276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.295371; longitude = -117.695745; captureRadius = 10; duration = 101; initialDepth = 639.439276; finalDepth = 635.408216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:639.439276 # Seafloor depth:-689.439276 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.539892 meters # Minimum depth: 694.253763 meters looking forward 100.000000 meters along route # Maximum depth: 701.064537 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.253763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294727; longitude = -117.696520; captureRadius = 10; duration = 101; initialDepth = 644.253763; finalDepth = 639.439276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:644.253763 # Seafloor depth:-694.253763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.540276 meters # Minimum depth: 699.275731 meters looking forward 100.000000 meters along route # Maximum depth: 708.737803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.275731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294083; longitude = -117.697295; captureRadius = 10; duration = 101; initialDepth = 649.275731; finalDepth = 644.253763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3384060000001 # Actual altitude: 50.3384060000001 # Commanded vehicle depth:649.275731 # Seafloor depth:-699.614137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 102.751023 meters # Minimum depth: 709.644713 meters looking forward 100.000000 meters along route # Maximum depth: 718.418374 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 659.644713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.293438; longitude = -117.698070; captureRadius = 10; duration = 102; initialDepth = 659.644713; finalDepth = 649.275731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3384060000001 # Actual altitude: 50.3384060000001 # Commanded vehicle depth:659.644713 # Seafloor depth:-709.644713 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 100.330679 meters # Minimum depth: 718.556033 meters looking forward 100.000000 meters along route # Maximum depth: 733.782122 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 668.556033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.292786; longitude = -117.698854; captureRadius = 10; duration = 100; initialDepth = 668.556033; finalDepth = 659.644713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:668.556033 # Seafloor depth:-718.556033 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.541426 meters # Minimum depth: 736.964518 meters looking forward 100.000000 meters along route # Maximum depth: 740.329904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.964518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.292150; longitude = -117.699620; captureRadius = 10; duration = 101; initialDepth = 686.964518; finalDepth = 668.556033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:686.964518 # Seafloor depth:-736.964518 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.541810 meters # Minimum depth: 733.114127 meters looking forward 100.000000 meters along route # Maximum depth: 737.934729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.114127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.291505; longitude = -117.700395; captureRadius = 10; duration = 101; initialDepth = 683.114127; finalDepth = 686.964518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8206019999999 # Actual altitude: 54.8206019999999 # Commanded vehicle depth:683.114127 # Seafloor depth:-737.934729 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.93; MB_Bottom_Detect_Filter_Max_Range = 219.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.542193 meters # Minimum depth: 734.426627 meters looking forward 100.000000 meters along route # Maximum depth: 751.034016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.426627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.290861; longitude = -117.701170; captureRadius = 10; duration = 101; initialDepth = 684.426627; finalDepth = 683.114127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8206019999999 # Actual altitude: 54.8206019999999 # Commanded vehicle depth:684.426627 # Seafloor depth:-734.426627 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.93; MB_Bottom_Detect_Filter_Max_Range = 219.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.585805 meters # Minimum depth: 754.743573 meters looking forward 100.000000 meters along route # Maximum depth: 768.029478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.743573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.290217; longitude = -117.701945; captureRadius = 10; duration = 101; initialDepth = 704.743573; finalDepth = 684.426627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:704.743573 # Seafloor depth:-754.743573 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.499733 meters # Minimum depth: 764.955313 meters looking forward 100.000000 meters along route # Maximum depth: 766.913523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.955313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.289572; longitude = -117.702720; captureRadius = 10; duration = 101; initialDepth = 714.955313; finalDepth = 704.743573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.95821 # Actual altitude: 51.95821 # Commanded vehicle depth:714.955313 # Seafloor depth:-766.913523 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.543344 meters # Minimum depth: 764.582791 meters looking forward 100.000000 meters along route # Maximum depth: 766.589544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.582791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.288928; longitude = -117.703495; captureRadius = 10; duration = 101; initialDepth = 714.582791; finalDepth = 714.955313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.95821 # Actual altitude: 51.95821 # Commanded vehicle depth:714.582791 # Seafloor depth:-764.582791 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.543728 meters # Minimum depth: 766.027854 meters looking forward 100.000000 meters along route # Maximum depth: 766.228017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.027854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.288284; longitude = -117.704270; captureRadius = 10; duration = 101; initialDepth = 716.027854; finalDepth = 714.582791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.200163 # Actual altitude: 50.200163 # Commanded vehicle depth:716.027854 # Seafloor depth:-766.228017 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.544111 meters # Minimum depth: 765.034364 meters looking forward 100.000000 meters along route # Maximum depth: 765.868746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.034364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.287639; longitude = -117.705045; captureRadius = 10; duration = 101; initialDepth = 715.034364; finalDepth = 716.027854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.834382 # Actual altitude: 50.834382 # Commanded vehicle depth:715.034364 # Seafloor depth:-765.868746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.544495 meters # Minimum depth: 764.889743 meters looking forward 100.000000 meters along route # Maximum depth: 765.051406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.889743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.286995; longitude = -117.705820; captureRadius = 10; duration = 101; initialDepth = 714.889743; finalDepth = 715.034364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.834382 # Actual altitude: 50.834382 # Commanded vehicle depth:714.889743 # Seafloor depth:-764.971408 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 111.444337 meters # Minimum depth: 765.057506 meters looking forward 100.000000 meters along route # Maximum depth: 765.886375 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.057506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.286351; longitude = -117.706595; captureRadius = 10; duration = 111; initialDepth = 715.057506; finalDepth = 714.889743; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.081665 # Actual altitude: 50.081665 # Commanded vehicle depth:715.057506 # Seafloor depth:-765.057506 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 112.568759 meters # Minimum depth: 765.992966 meters looking forward 100.000000 meters along route # Maximum depth: 767.142311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.992966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285643; longitude = -117.707445; captureRadius = 10; duration = 112; initialDepth = 715.992966; finalDepth = 715.057506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:715.992966 # Seafloor depth:-765.992966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 103.188443 meters # Minimum depth: 767.431339 meters looking forward 100.000000 meters along route # Maximum depth: 768.691374 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.431339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.284929; longitude = -117.708304; captureRadius = 10; duration = 103; initialDepth = 717.431339; finalDepth = 715.992966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:717.431339 # Seafloor depth:-767.431339 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 36.064419 meters # Minimum depth: 768.114802 meters looking forward 100.000000 meters along route # Maximum depth: 768.986328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.114802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.284274; longitude = -117.709092; captureRadius = 10; duration = 36; # abortOnTimeout = True; initialDepth = 718.114802; finalDepth = 717.431339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8715259999999 # Actual altitude: 50.8715259999999 # Commanded vehicle depth:718.114802 # Seafloor depth:-768.986328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 117.209035 meters # Minimum depth: 767.850471 meters looking forward 100.000000 meters along route # Maximum depth: 768.712661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.850471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.284493; longitude = -117.709378; captureRadius = 10; duration = 117; initialDepth = 717.850471; finalDepth = 718.114802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8715259999999 # Actual altitude: 50.8715259999999 # Commanded vehicle depth:717.850471 # Seafloor depth:-768.712661 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 11.282821 meters # Minimum depth: 767.642123 meters looking forward 100.000000 meters along route # Maximum depth: 768.281307 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.642123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285205; longitude = -117.710309; captureRadius = 10; duration = 11; # abortOnTimeout = True; initialDepth = 717.642123; finalDepth = 717.850471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8621900000001 # Actual altitude: 50.8621900000001 # Commanded vehicle depth:717.642123 # Seafloor depth:-767.783854 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 203.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.545170 meters # Minimum depth: 766.309641 meters looking forward 100.000000 meters along route # Maximum depth: 767.613253 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.309641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285277; longitude = -117.710223; captureRadius = 10; duration = 101; initialDepth = 716.309641; finalDepth = 717.642123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3036119999999 # Actual altitude: 51.3036119999999 # Commanded vehicle depth:716.309641 # Seafloor depth:-767.613253 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.544787 meters # Minimum depth: 764.435379 meters looking forward 100.000000 meters along route # Maximum depth: 766.000294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.435379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.285921; longitude = -117.709448; captureRadius = 10; duration = 101; initialDepth = 714.435379; finalDepth = 716.309641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.564915 # Actual altitude: 51.564915 # Commanded vehicle depth:714.435379 # Seafloor depth:-766.000294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.544403 meters # Minimum depth: 763.053190 meters looking forward 100.000000 meters along route # Maximum depth: 764.304093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.053190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.286565; longitude = -117.708673; captureRadius = 10; duration = 101; initialDepth = 713.053190; finalDepth = 714.435379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.564915 # Actual altitude: 51.564915 # Commanded vehicle depth:713.05319 # Seafloor depth:-764.304093 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.544019 meters # Minimum depth: 761.591838 meters looking forward 100.000000 meters along route # Maximum depth: 762.678207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.591838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.287210; longitude = -117.707898; captureRadius = 10; duration = 101; initialDepth = 711.591838; finalDepth = 713.053190; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.250903 # Actual altitude: 51.250903 # Commanded vehicle depth:711.591838 # Seafloor depth:-762.678207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 205.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.543636 meters # Minimum depth: 761.334927 meters looking forward 100.000000 meters along route # Maximum depth: 761.909867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.334927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.287854; longitude = -117.707123; captureRadius = 10; duration = 101; initialDepth = 711.334927; finalDepth = 711.591838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.086369 # Actual altitude: 51.086369 # Commanded vehicle depth:711.334927 # Seafloor depth:-761.498798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.543252 meters # Minimum depth: 760.623147 meters looking forward 100.000000 meters along route # Maximum depth: 762.992240 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.623147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.288498; longitude = -117.706348; captureRadius = 10; duration = 101; initialDepth = 710.623147; finalDepth = 711.334927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.360541 # Actual altitude: 51.360541 # Commanded vehicle depth:710.623147 # Seafloor depth:-761.983688 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.542869 meters # Minimum depth: 758.521457 meters looking forward 100.000000 meters along route # Maximum depth: 763.326255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.521457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.289143; longitude = -117.705573; captureRadius = 10; duration = 101; initialDepth = 708.521457; finalDepth = 710.623147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8047979999999 # Actual altitude: 54.8047979999999 # Commanded vehicle depth:708.521457 # Seafloor depth:-763.326255 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.92; MB_Bottom_Detect_Filter_Max_Range = 219.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.542484 meters # Minimum depth: 749.395189 meters looking forward 100.000000 meters along route # Maximum depth: 758.312179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.395189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.289787; longitude = -117.704798; captureRadius = 10; duration = 101; initialDepth = 699.395189; finalDepth = 708.521457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.9169900000001 # Actual altitude: 58.9169900000001 # Commanded vehicle depth:699.395189 # Seafloor depth:-758.312179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.57; MB_Bottom_Detect_Filter_Max_Range = 235.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.542102 meters # Minimum depth: 736.457658 meters looking forward 100.000000 meters along route # Maximum depth: 746.195527 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.457658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.290431; longitude = -117.704023; captureRadius = 10; duration = 101; initialDepth = 686.457658; finalDepth = 699.395189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.7378689999999 # Actual altitude: 59.7378689999999 # Commanded vehicle depth:686.457658 # Seafloor depth:-746.195527 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.90; MB_Bottom_Detect_Filter_Max_Range = 238.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 179.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.541717 meters # Minimum depth: 731.696159 meters looking forward 100.000000 meters along route # Maximum depth: 736.034618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.696159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.291076; longitude = -117.703248; captureRadius = 10; duration = 101; initialDepth = 681.696159; finalDepth = 686.457658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.7378689999999 # Actual altitude: 59.7378689999999 # Commanded vehicle depth:681.696159 # Seafloor depth:-736.034618 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.90; MB_Bottom_Detect_Filter_Max_Range = 238.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 179.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.541334 meters # Minimum depth: 729.786593 meters looking forward 100.000000 meters along route # Maximum depth: 731.908844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.786593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.291720; longitude = -117.702473; captureRadius = 10; duration = 101; initialDepth = 679.786593; finalDepth = 681.696159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3384590000001 # Actual altitude: 54.3384590000001 # Commanded vehicle depth:679.786593 # Seafloor depth:-731.351549 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.74; MB_Bottom_Detect_Filter_Max_Range = 217.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.540951 meters # Minimum depth: 717.481304 meters looking forward 100.000000 meters along route # Maximum depth: 727.314394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 667.481304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.292364; longitude = -117.701698; captureRadius = 10; duration = 101; initialDepth = 667.481304; finalDepth = 679.786593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.83309 # Actual altitude: 59.83309 # Commanded vehicle depth:667.481304 # Seafloor depth:-727.314394 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.93; MB_Bottom_Detect_Filter_Max_Range = 239.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 179.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 102.232199 meters # Minimum depth: 708.654713 meters looking forward 100.000000 meters along route # Maximum depth: 716.096417 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 658.654713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.293009; longitude = -117.700923; captureRadius = 10; duration = 102; initialDepth = 658.654713; finalDepth = 667.481304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.83309 # Actual altitude: 59.83309 # Commanded vehicle depth:658.654713 # Seafloor depth:-716.096417 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.93; MB_Bottom_Detect_Filter_Max_Range = 239.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 179.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.848550 meters # Minimum depth: 699.602878 meters looking forward 100.000000 meters along route # Maximum depth: 708.609390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.602878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.293658; longitude = -117.700143; captureRadius = 10; duration = 100; initialDepth = 649.602878; finalDepth = 658.654713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.0065119999999 # Actual altitude: 59.0065119999999 # Commanded vehicle depth:649.602878 # Seafloor depth:-708.609390 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.60; MB_Bottom_Detect_Filter_Max_Range = 236.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 177.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.539800 meters # Minimum depth: 692.722227 meters looking forward 100.000000 meters along route # Maximum depth: 698.358973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.722227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294297; longitude = -117.699373; captureRadius = 10; duration = 101; initialDepth = 642.722227; finalDepth = 649.602878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.0065119999999 # Actual altitude: 59.0065119999999 # Commanded vehicle depth:642.722227 # Seafloor depth:-698.358973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.60; MB_Bottom_Detect_Filter_Max_Range = 236.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 177.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.539416 meters # Minimum depth: 692.744808 meters looking forward 100.000000 meters along route # Maximum depth: 694.018790 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.744808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.294942; longitude = -117.698598; captureRadius = 10; duration = 101; initialDepth = 642.744808; finalDepth = 642.722227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.636746 # Actual altitude: 55.636746 # Commanded vehicle depth:642.744808 # Seafloor depth:-692.744808 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.25; MB_Bottom_Detect_Filter_Max_Range = 222.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.539033 meters # Minimum depth: 689.372753 meters looking forward 100.000000 meters along route # Maximum depth: 692.704820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 639.372753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.295586; longitude = -117.697823; captureRadius = 10; duration = 101; initialDepth = 639.372753; finalDepth = 642.744808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.3320670000001 # Actual altitude: 53.3320670000001 # Commanded vehicle depth:639.372753 # Seafloor depth:-692.704820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.33; MB_Bottom_Detect_Filter_Max_Range = 213.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.538649 meters # Minimum depth: 687.424849 meters looking forward 100.000000 meters along route # Maximum depth: 690.308459 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 637.424849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296231; longitude = -117.697048; captureRadius = 10; duration = 101; initialDepth = 637.424849; finalDepth = 639.372753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.3320670000001 # Actual altitude: 53.3320670000001 # Commanded vehicle depth:637.424849 # Seafloor depth:-690.181358 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.33; MB_Bottom_Detect_Filter_Max_Range = 213.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.538265 meters # Minimum depth: 687.410931 meters looking forward 100.000000 meters along route # Maximum depth: 689.089708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 637.410931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.296875; longitude = -117.696273; captureRadius = 10; duration = 101; initialDepth = 637.410931; finalDepth = 637.424849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7565090000001 # Actual altitude: 52.7565090000001 # Commanded vehicle depth:637.410931 # Seafloor depth:-687.410931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.10; MB_Bottom_Detect_Filter_Max_Range = 211.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.537882 meters # Minimum depth: 687.334132 meters looking forward 100.000000 meters along route # Maximum depth: 688.010348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 637.334132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.297519; longitude = -117.695498; captureRadius = 10; duration = 101; initialDepth = 637.334132; finalDepth = 637.410931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6762160000001 # Actual altitude: 50.6762160000001 # Commanded vehicle depth:637.334132 # Seafloor depth:-688.010348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.537498 meters # Minimum depth: 685.574036 meters looking forward 100.000000 meters along route # Maximum depth: 687.516801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.574036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.298164; longitude = -117.694723; captureRadius = 10; duration = 101; initialDepth = 635.574036; finalDepth = 637.334132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.942765 # Actual altitude: 51.942765 # Commanded vehicle depth:635.574036 # Seafloor depth:-687.516801 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.537115 meters # Minimum depth: 683.287135 meters looking forward 100.000000 meters along route # Maximum depth: 685.885490 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 633.287135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.298808; longitude = -117.693948; captureRadius = 10; duration = 101; initialDepth = 633.287135; finalDepth = 635.574036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.598355 # Actual altitude: 52.598355 # Commanded vehicle depth:633.287135 # Seafloor depth:-685.885490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.04; MB_Bottom_Detect_Filter_Max_Range = 210.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.536731 meters # Minimum depth: 681.990609 meters looking forward 100.000000 meters along route # Maximum depth: 683.479287 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 631.990609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.299452; longitude = -117.693173; captureRadius = 10; duration = 101; initialDepth = 631.990609; finalDepth = 633.287135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.598355 # Actual altitude: 52.598355 # Commanded vehicle depth:631.990609 # Seafloor depth:-682.608265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.04; MB_Bottom_Detect_Filter_Max_Range = 210.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.536348 meters # Minimum depth: 678.517378 meters looking forward 100.000000 meters along route # Maximum depth: 681.961917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.517378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.300097; longitude = -117.692398; captureRadius = 10; duration = 101; initialDepth = 628.517378; finalDepth = 631.990609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.444539 # Actual altitude: 53.444539 # Commanded vehicle depth:628.517378 # Seafloor depth:-681.961917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.38; MB_Bottom_Detect_Filter_Max_Range = 213.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.535964 meters # Minimum depth: 670.745616 meters looking forward 100.000000 meters along route # Maximum depth: 677.306986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.745616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.300741; longitude = -117.691623; captureRadius = 10; duration = 101; initialDepth = 620.745616; finalDepth = 628.517378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.56137 # Actual altitude: 56.56137 # Commanded vehicle depth:620.745616 # Seafloor depth:-677.306986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.62; MB_Bottom_Detect_Filter_Max_Range = 226.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.535581 meters # Minimum depth: 668.997488 meters looking forward 100.000000 meters along route # Maximum depth: 671.042945 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 618.997488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.301385; longitude = -117.690848; captureRadius = 10; duration = 101; initialDepth = 618.997488; finalDepth = 620.745616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.56137 # Actual altitude: 56.56137 # Commanded vehicle depth:618.997488 # Seafloor depth:-670.237886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.62; MB_Bottom_Detect_Filter_Max_Range = 226.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.535197 meters # Minimum depth: 670.002917 meters looking forward 100.000000 meters along route # Maximum depth: 671.780985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.002917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302030; longitude = -117.690073; captureRadius = 10; duration = 101; initialDepth = 620.002917; finalDepth = 618.997488; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.240398 # Actual altitude: 51.240398 # Commanded vehicle depth:620.002917 # Seafloor depth:-670.167236 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 204.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.534814 meters # Minimum depth: 670.513347 meters looking forward 100.000000 meters along route # Maximum depth: 674.638980 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.513347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.302674; longitude = -117.689298; captureRadius = 10; duration = 101; initialDepth = 620.513347; finalDepth = 620.002917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4136130000001 # Actual altitude: 50.4136130000001 # Commanded vehicle depth:620.513347 # Seafloor depth:-670.926960 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.534431 meters # Minimum depth: 670.556408 meters looking forward 100.000000 meters along route # Maximum depth: 674.642844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.556408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303318; longitude = -117.688523; captureRadius = 10; duration = 101; initialDepth = 620.556408; finalDepth = 620.513347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0864359999999 # Actual altitude: 54.0864359999999 # Commanded vehicle depth:620.556408 # Seafloor depth:-674.642844 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.63; MB_Bottom_Detect_Filter_Max_Range = 216.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.534047 meters # Minimum depth: 659.818160 meters looking forward 100.000000 meters along route # Maximum depth: 668.616680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 609.818160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.303963; longitude = -117.687748; captureRadius = 10; duration = 101; initialDepth = 609.818160; finalDepth = 620.556408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.7985199999999 # Actual altitude: 58.7985199999999 # Commanded vehicle depth:609.81816 # Seafloor depth:-668.616680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.52; MB_Bottom_Detect_Filter_Max_Range = 235.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.533663 meters # Minimum depth: 651.873165 meters looking forward 100.000000 meters along route # Maximum depth: 658.981795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 601.873165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.304607; longitude = -117.686973; captureRadius = 10; duration = 101; initialDepth = 601.873165; finalDepth = 609.818160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.7985199999999 # Actual altitude: 58.7985199999999 # Commanded vehicle depth:601.873165 # Seafloor depth:-658.981795 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.52; MB_Bottom_Detect_Filter_Max_Range = 235.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.533280 meters # Minimum depth: 640.953282 meters looking forward 100.000000 meters along route # Maximum depth: 649.387002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.953282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305251; longitude = -117.686198; captureRadius = 10; duration = 101; initialDepth = 590.953282; finalDepth = 601.873165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.4337200000001 # Actual altitude: 58.4337200000001 # Commanded vehicle depth:590.953282 # Seafloor depth:-649.387002 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.37; MB_Bottom_Detect_Filter_Max_Range = 233.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.532897 meters # Minimum depth: 629.243921 meters looking forward 100.000000 meters along route # Maximum depth: 639.440487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.243921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.305896; longitude = -117.685423; captureRadius = 10; duration = 101; initialDepth = 579.243921; finalDepth = 590.953282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.196566 # Actual altitude: 60.196566 # Commanded vehicle depth:579.243921 # Seafloor depth:-639.440487 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.08; MB_Bottom_Detect_Filter_Max_Range = 240.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.532513 meters # Minimum depth: 621.777510 meters looking forward 100.000000 meters along route # Maximum depth: 628.795834 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.777510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.306540; longitude = -117.684648; captureRadius = 10; duration = 101; initialDepth = 571.777510; finalDepth = 579.243921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.196566 # Actual altitude: 60.196566 # Commanded vehicle depth:571.77751 # Seafloor depth:-628.795834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.08; MB_Bottom_Detect_Filter_Max_Range = 240.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.532130 meters # Minimum depth: 619.744750 meters looking forward 100.000000 meters along route # Maximum depth: 625.516321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.744750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.307184; longitude = -117.683873; captureRadius = 10; duration = 101; initialDepth = 569.744750; finalDepth = 571.777510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.018324 # Actual altitude: 57.018324 # Commanded vehicle depth:569.74475 # Seafloor depth:-622.783115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.81; MB_Bottom_Detect_Filter_Max_Range = 228.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 102.482659 meters # Minimum depth: 615.295656 meters looking forward 100.000000 meters along route # Maximum depth: 619.972487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.295656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.307829; longitude = -117.683098; captureRadius = 10; duration = 102; initialDepth = 565.295656; finalDepth = 569.744750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.676831 # Actual altitude: 54.676831 # Commanded vehicle depth:565.295656 # Seafloor depth:-619.972487 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.87; MB_Bottom_Detect_Filter_Max_Range = 218.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.580450 meters # Minimum depth: 611.456589 meters looking forward 100.000000 meters along route # Maximum depth: 615.347948 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.456589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.308479; longitude = -117.682316; captureRadius = 10; duration = 100; initialDepth = 561.456589; finalDepth = 565.295656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.676831 # Actual altitude: 54.676831 # Commanded vehicle depth:561.456589 # Seafloor depth:-615.347948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.87; MB_Bottom_Detect_Filter_Max_Range = 218.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.530980 meters # Minimum depth: 607.316201 meters looking forward 100.000000 meters along route # Maximum depth: 611.196559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.316201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309117; longitude = -117.681548; captureRadius = 10; duration = 101; initialDepth = 557.316201; finalDepth = 561.456589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.891359 # Actual altitude: 53.891359 # Commanded vehicle depth:557.316201 # Seafloor depth:-611.196559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.56; MB_Bottom_Detect_Filter_Max_Range = 215.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.530596 meters # Minimum depth: 605.985874 meters looking forward 100.000000 meters along route # Maximum depth: 607.336415 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.985874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.309762; longitude = -117.680773; captureRadius = 10; duration = 101; initialDepth = 555.985874; finalDepth = 557.316201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.880358 # Actual altitude: 53.880358 # Commanded vehicle depth:555.985874 # Seafloor depth:-607.336415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.55; MB_Bottom_Detect_Filter_Max_Range = 215.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.530213 meters # Minimum depth: 602.917840 meters looking forward 100.000000 meters along route # Maximum depth: 605.703746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.917840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.310406; longitude = -117.679998; captureRadius = 10; duration = 101; initialDepth = 552.917840; finalDepth = 555.985874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7859060000001 # Actual altitude: 52.7859060000001 # Commanded vehicle depth:552.91784 # Seafloor depth:-605.703746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.11; MB_Bottom_Detect_Filter_Max_Range = 211.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.529830 meters # Minimum depth: 595.777390 meters looking forward 100.000000 meters along route # Maximum depth: 602.830771 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.777390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311050; longitude = -117.679223; captureRadius = 10; duration = 101; initialDepth = 545.777390; finalDepth = 552.917840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.0533810000001 # Actual altitude: 57.0533810000001 # Commanded vehicle depth:545.77739 # Seafloor depth:-602.830771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.82; MB_Bottom_Detect_Filter_Max_Range = 228.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.529446 meters # Minimum depth: 595.791474 meters looking forward 100.000000 meters along route # Maximum depth: 598.863569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.791474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.311695; longitude = -117.678448; captureRadius = 10; duration = 101; initialDepth = 545.791474; finalDepth = 545.777390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.0533810000001 # Actual altitude: 57.0533810000001 # Commanded vehicle depth:545.791474 # Seafloor depth:-595.791474 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.82; MB_Bottom_Detect_Filter_Max_Range = 228.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.529063 meters # Minimum depth: 593.930840 meters looking forward 100.000000 meters along route # Maximum depth: 596.717857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.930840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312339; longitude = -117.677673; captureRadius = 10; duration = 101; initialDepth = 543.930840; finalDepth = 545.791474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.787017 # Actual altitude: 52.787017 # Commanded vehicle depth:543.93084 # Seafloor depth:-596.717857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.11; MB_Bottom_Detect_Filter_Max_Range = 211.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.528680 meters # Minimum depth: 592.483729 meters looking forward 100.000000 meters along route # Maximum depth: 596.332663 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.483729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.312983; longitude = -117.676898; captureRadius = 10; duration = 101; initialDepth = 542.483729; finalDepth = 543.930840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.848934 # Actual altitude: 53.848934 # Commanded vehicle depth:542.483729 # Seafloor depth:-596.332663 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.54; MB_Bottom_Detect_Filter_Max_Range = 215.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.528296 meters # Minimum depth: 587.146193 meters looking forward 100.000000 meters along route # Maximum depth: 589.707766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.146193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.313628; longitude = -117.676123; captureRadius = 10; duration = 101; initialDepth = 537.146193; finalDepth = 542.483729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.848934 # Actual altitude: 53.848934 # Commanded vehicle depth:537.146193 # Seafloor depth:-589.707766 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.54; MB_Bottom_Detect_Filter_Max_Range = 215.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.527913 meters # Minimum depth: 579.118529 meters looking forward 100.000000 meters along route # Maximum depth: 586.141967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.118529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314272; longitude = -117.675348; captureRadius = 10; duration = 101; initialDepth = 529.118529; finalDepth = 537.146193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.0234380000001 # Actual altitude: 57.0234380000001 # Commanded vehicle depth:529.118529 # Seafloor depth:-586.141967 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.81; MB_Bottom_Detect_Filter_Max_Range = 228.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.527529 meters # Minimum depth: 573.517391 meters looking forward 100.000000 meters along route # Maximum depth: 579.031846 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.517391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.314916; longitude = -117.674573; captureRadius = 10; duration = 101; initialDepth = 523.517391; finalDepth = 529.118529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.0234380000001 # Actual altitude: 57.0234380000001 # Commanded vehicle depth:523.517391 # Seafloor depth:-579.031846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.81; MB_Bottom_Detect_Filter_Max_Range = 228.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.527146 meters # Minimum depth: 566.614751 meters looking forward 100.000000 meters along route # Maximum depth: 571.669282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 516.614751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.315561; longitude = -117.673798; captureRadius = 10; duration = 101; initialDepth = 516.614751; finalDepth = 523.517391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.514455 # Actual altitude: 55.514455 # Commanded vehicle depth:516.614751 # Seafloor depth:-571.669282 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.21; MB_Bottom_Detect_Filter_Max_Range = 222.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.526763 meters # Minimum depth: 562.252957 meters looking forward 100.000000 meters along route # Maximum depth: 566.390600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 512.252957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.316205; longitude = -117.673023; captureRadius = 10; duration = 101; initialDepth = 512.252957; finalDepth = 516.614751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.054531 # Actual altitude: 55.054531 # Commanded vehicle depth:512.252957 # Seafloor depth:-566.390600 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.02; MB_Bottom_Detect_Filter_Max_Range = 220.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.526380 meters # Minimum depth: 550.078128 meters looking forward 100.000000 meters along route # Maximum depth: 559.867983 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.078128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.316849; longitude = -117.672248; captureRadius = 10; duration = 101; initialDepth = 500.078128; finalDepth = 512.252957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.789855 # Actual altitude: 59.789855 # Commanded vehicle depth:500.078128 # Seafloor depth:-559.867983 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.92; MB_Bottom_Detect_Filter_Max_Range = 239.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 179.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.525997 meters # Minimum depth: 544.762662 meters looking forward 100.000000 meters along route # Maximum depth: 549.659979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.762662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.317494; longitude = -117.671473; captureRadius = 10; duration = 101; initialDepth = 494.762662; finalDepth = 500.078128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.789855 # Actual altitude: 59.789855 # Commanded vehicle depth:494.762662 # Seafloor depth:-549.119613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.92; MB_Bottom_Detect_Filter_Max_Range = 239.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 179.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.525613 meters # Minimum depth: 542.070989 meters looking forward 100.000000 meters along route # Maximum depth: 545.433857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 492.070989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318138; longitude = -117.670698; captureRadius = 10; duration = 101; initialDepth = 492.070989; finalDepth = 494.762662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.356951 # Actual altitude: 54.356951 # Commanded vehicle depth:492.070989 # Seafloor depth:-544.657214 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.74; MB_Bottom_Detect_Filter_Max_Range = 217.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.525230 meters # Minimum depth: 536.104985 meters looking forward 100.000000 meters along route # Maximum depth: 541.694899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 486.104985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.318782; longitude = -117.669923; captureRadius = 10; duration = 101; initialDepth = 486.104985; finalDepth = 492.070989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.17773 # Actual altitude: 55.17773 # Commanded vehicle depth:486.104985 # Seafloor depth:-541.282715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.524846 meters # Minimum depth: 535.889793 meters looking forward 100.000000 meters along route # Maximum depth: 537.810097 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.889793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.319427; longitude = -117.669148; captureRadius = 10; duration = 101; initialDepth = 485.889793; finalDepth = 486.104985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.17773 # Actual altitude: 55.17773 # Commanded vehicle depth:485.889793 # Seafloor depth:-535.889793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.524464 meters # Minimum depth: 529.611400 meters looking forward 100.000000 meters along route # Maximum depth: 534.858753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.611400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.320071; longitude = -117.668373; captureRadius = 10; duration = 101; initialDepth = 479.611400; finalDepth = 485.889793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.247353 # Actual altitude: 55.247353 # Commanded vehicle depth:479.6114 # Seafloor depth:-534.858753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.10; MB_Bottom_Detect_Filter_Max_Range = 220.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.524080 meters # Minimum depth: 521.351322 meters looking forward 100.000000 meters along route # Maximum depth: 528.699041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.351322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.320715; longitude = -117.667598; captureRadius = 10; duration = 101; initialDepth = 471.351322; finalDepth = 479.611400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.347719 # Actual altitude: 57.347719 # Commanded vehicle depth:471.351322 # Seafloor depth:-528.699041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.94; MB_Bottom_Detect_Filter_Max_Range = 229.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 172.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.523697 meters # Minimum depth: 510.009888 meters looking forward 100.000000 meters along route # Maximum depth: 520.953875 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 460.009888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.321360; longitude = -117.666823; captureRadius = 10; duration = 101; initialDepth = 460.009888; finalDepth = 471.351322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.943987 # Actual altitude: 60.943987 # Commanded vehicle depth:460.009888 # Seafloor depth:-520.953875 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.38; MB_Bottom_Detect_Filter_Max_Range = 243.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 182.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.523314 meters # Minimum depth: 491.959157 meters looking forward 100.000000 meters along route # Maximum depth: 506.776007 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 441.959157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.322004; longitude = -117.666049; captureRadius = 10; duration = 101; initialDepth = 441.959157; finalDepth = 460.009888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.81685 # Actual altitude: 64.81685 # Commanded vehicle depth:441.959157 # Seafloor depth:-506.776007 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 259.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.93; MB_Bottom_Detect_Filter_Max_Range = 259.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 194.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 102.733078 meters # Minimum depth: 472.055849 meters looking forward 100.000000 meters along route # Maximum depth: 490.217129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 422.055849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.322648; longitude = -117.665274; captureRadius = 10; duration = 102; initialDepth = 422.055849; finalDepth = 441.959157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.16128 # Actual altitude: 68.16128 # Commanded vehicle depth:422.055849 # Seafloor depth:-490.217129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 272.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.26; MB_Bottom_Detect_Filter_Max_Range = 272.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.312400 meters # Minimum depth: 456.561970 meters looking forward 100.000000 meters along route # Maximum depth: 471.727318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 406.561970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323300; longitude = -117.664489; captureRadius = 10; duration = 100; initialDepth = 406.561970; finalDepth = 422.055849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.16128 # Actual altitude: 68.16128 # Commanded vehicle depth:406.56197 # Seafloor depth:-471.727318 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 272.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.26; MB_Bottom_Detect_Filter_Max_Range = 272.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.522164 meters # Minimum depth: 439.515612 meters looking forward 100.000000 meters along route # Maximum depth: 454.129984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.515612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.323937; longitude = -117.663724; captureRadius = 10; duration = 101; initialDepth = 389.515612; finalDepth = 406.561970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.1653480000001 # Actual altitude: 65.1653480000001 # Commanded vehicle depth:389.515612 # Seafloor depth:-454.129984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 260.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.07; MB_Bottom_Detect_Filter_Max_Range = 260.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 195.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.521781 meters # Minimum depth: 431.786452 meters looking forward 100.000000 meters along route # Maximum depth: 439.507855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.786452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.324581; longitude = -117.662949; captureRadius = 10; duration = 101; initialDepth = 381.786452; finalDepth = 389.515612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.614372 # Actual altitude: 64.614372 # Commanded vehicle depth:381.786452 # Seafloor depth:-439.507855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.85; MB_Bottom_Detect_Filter_Max_Range = 258.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 193.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.521398 meters # Minimum depth: 419.610642 meters looking forward 100.000000 meters along route # Maximum depth: 428.555579 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.610642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.325226; longitude = -117.662174; captureRadius = 10; duration = 101; initialDepth = 369.610642; finalDepth = 381.786452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.944937 # Actual altitude: 58.944937 # Commanded vehicle depth:369.610642 # Seafloor depth:-428.555579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.58; MB_Bottom_Detect_Filter_Max_Range = 235.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.564233 meters # Minimum depth: 411.456282 meters looking forward 100.000000 meters along route # Maximum depth: 419.193557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 361.456282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.325870; longitude = -117.661399; captureRadius = 10; duration = 101; initialDepth = 361.456282; finalDepth = 369.610642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.944937 # Actual altitude: 58.944937 # Commanded vehicle depth:361.456282 # Seafloor depth:-419.193557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.58; MB_Bottom_Detect_Filter_Max_Range = 235.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.477413 meters # Minimum depth: 405.539024 meters looking forward 100.000000 meters along route # Maximum depth: 411.452984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 355.539024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.326515; longitude = -117.660623; captureRadius = 10; duration = 101; initialDepth = 355.539024; finalDepth = 361.456282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.737275 # Actual altitude: 57.737275 # Commanded vehicle depth:355.539024 # Seafloor depth:-411.452984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.09; MB_Bottom_Detect_Filter_Max_Range = 230.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.520248 meters # Minimum depth: 392.508200 meters looking forward 100.000000 meters along route # Maximum depth: 404.050622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 342.508200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.327159; longitude = -117.659849; captureRadius = 10; duration = 101; initialDepth = 342.508200; finalDepth = 355.539024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.542422 # Actual altitude: 61.542422 # Commanded vehicle depth:342.5082 # Seafloor depth:-404.050622 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.62; MB_Bottom_Detect_Filter_Max_Range = 246.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 184.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.519865 meters # Minimum depth: 373.984842 meters looking forward 100.000000 meters along route # Maximum depth: 391.359933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 323.984842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.327803; longitude = -117.659074; captureRadius = 10; duration = 101; initialDepth = 323.984842; finalDepth = 342.508200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.375091 # Actual altitude: 67.375091 # Commanded vehicle depth:323.984842 # Seafloor depth:-391.359933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 269.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.95; MB_Bottom_Detect_Filter_Max_Range = 269.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.519483 meters # Minimum depth: 339.280807 meters looking forward 100.000000 meters along route # Maximum depth: 368.845316 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 289.280807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.328448; longitude = -117.658299; captureRadius = 10; duration = 101; initialDepth = 289.280807; finalDepth = 323.984842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.564509 # Actual altitude: 79.564509 # Commanded vehicle depth:289.280807 # Seafloor depth:-368.845316 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 318.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.83; MB_Bottom_Detect_Filter_Max_Range = 318.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.519098 meters # Minimum depth: 333.433846 meters looking forward 100.000000 meters along route # Maximum depth: 336.603354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 283.433846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.329092; longitude = -117.657524; captureRadius = 10; duration = 101; initialDepth = 283.433846; finalDepth = 289.280807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.564509 # Actual altitude: 79.564509 # Commanded vehicle depth:283.433846 # Seafloor depth:-336.603354 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 318.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.83; MB_Bottom_Detect_Filter_Max_Range = 318.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 111.415582 meters # Minimum depth: 333.633202 meters looking forward 100.000000 meters along route # Maximum depth: 341.902733 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 283.633202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.329736; longitude = -117.656749; captureRadius = 10; duration = 111; initialDepth = 283.633202; finalDepth = 283.433846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.169508 # Actual altitude: 53.169508 # Commanded vehicle depth:283.633202 # Seafloor depth:-333.633202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 212.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 112.538777 meters # Minimum depth: 316.190837 meters looking forward 100.000000 meters along route # Maximum depth: 335.596826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 266.190837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.330443; longitude = -117.655898; captureRadius = 10; duration = 112; initialDepth = 266.190837; finalDepth = 283.633202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.405989 # Actual altitude: 69.405989 # Commanded vehicle depth:266.190837 # Seafloor depth:-335.596826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 277.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.76; MB_Bottom_Detect_Filter_Max_Range = 277.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 103.160132 meters # Minimum depth: 306.459480 meters looking forward 100.000000 meters along route # Maximum depth: 314.097315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 256.459480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.331158; longitude = -117.655039; captureRadius = 10; duration = 103; initialDepth = 256.459480; finalDepth = 266.190837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.405989 # Actual altitude: 69.405989 # Commanded vehicle depth:256.45948 # Seafloor depth:-314.097315 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 277.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.76; MB_Bottom_Detect_Filter_Max_Range = 277.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 46.912628 meters # Minimum depth: 304.952067 meters looking forward 100.000000 meters along route # Maximum depth: 309.417924 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 254.952067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.331812; longitude = -117.654251; captureRadius = 10; duration = 46; # abortOnTimeout = True; initialDepth = 254.952067; finalDepth = 256.459480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.637835 # Actual altitude: 57.637835 # Commanded vehicle depth:254.952067 # Seafloor depth:-304.952067 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.06; MB_Bottom_Detect_Filter_Max_Range = 230.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 172.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.553102 meters # Minimum depth: 298.015977 meters looking forward 100.000000 meters along route # Maximum depth: 306.589193 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 248.015977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332099; longitude = -117.653880; captureRadius = 10; duration = 105; initialDepth = 248.015977; finalDepth = 254.952067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.573216 # Actual altitude: 58.573216 # Commanded vehicle depth:248.015977 # Seafloor depth:-306.589193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.43; MB_Bottom_Detect_Filter_Max_Range = 234.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.552675 meters # Minimum depth: 293.141592 meters looking forward 100.000000 meters along route # Maximum depth: 297.626313 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 243.141592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332743; longitude = -117.653045; captureRadius = 10; duration = 105; initialDepth = 243.141592; finalDepth = 248.015977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.573216 # Actual altitude: 58.573216 # Commanded vehicle depth:243.141592 # Seafloor depth:-297.626313 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.43; MB_Bottom_Detect_Filter_Max_Range = 234.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.552245 meters # Minimum depth: 288.754656 meters looking forward 100.000000 meters along route # Maximum depth: 292.983692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 238.754656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333387; longitude = -117.652211; captureRadius = 10; duration = 105; initialDepth = 238.754656; finalDepth = 243.141592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.484721 # Actual altitude: 54.484721 # Commanded vehicle depth:238.754656 # Seafloor depth:-292.983692 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.79; MB_Bottom_Detect_Filter_Max_Range = 217.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 107.081551 meters # Minimum depth: 284.882816 meters looking forward 100.000000 meters along route # Maximum depth: 288.682350 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 234.882816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334032; longitude = -117.651376; captureRadius = 10; duration = 107; initialDepth = 234.882816; finalDepth = 238.754656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.229036 # Actual altitude: 54.229036 # Commanded vehicle depth:234.882816 # Seafloor depth:-288.682350 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.69; MB_Bottom_Detect_Filter_Max_Range = 216.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.610837 meters # Minimum depth: 274.843726 meters looking forward 100.000000 meters along route # Maximum depth: 284.836972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 224.843726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334685; longitude = -117.650529; captureRadius = 10; duration = 108; initialDepth = 224.843726; finalDepth = 234.882816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.993246 # Actual altitude: 59.993246 # Commanded vehicle depth:224.843726 # Seafloor depth:-284.836972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.00; MB_Bottom_Detect_Filter_Max_Range = 239.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 179.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.961779 meters # Minimum depth: 269.681261 meters looking forward 100.000000 meters along route # Maximum depth: 274.669898 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 219.681261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335348; longitude = -117.649669; captureRadius = 10; duration = 100; initialDepth = 219.681261; finalDepth = 224.843726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.993246 # Actual altitude: 59.993246 # Commanded vehicle depth:219.681261 # Seafloor depth:-274.669898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.00; MB_Bottom_Detect_Filter_Max_Range = 239.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 179.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.550532 meters # Minimum depth: 259.259576 meters looking forward 100.000000 meters along route # Maximum depth: 267.643722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 209.259576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335965; longitude = -117.648871; captureRadius = 10; duration = 105; initialDepth = 209.259576; finalDepth = 219.681261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.384146 # Actual altitude: 58.384146 # Commanded vehicle depth:209.259576 # Seafloor depth:-267.643722 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.35; MB_Bottom_Detect_Filter_Max_Range = 233.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.550104 meters # Minimum depth: 246.592053 meters looking forward 100.000000 meters along route # Maximum depth: 257.184825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 196.592053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336609; longitude = -117.648036; captureRadius = 10; duration = 105; initialDepth = 196.592053; finalDepth = 209.259576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.592772 # Actual altitude: 60.592772 # Commanded vehicle depth:196.592053 # Seafloor depth:-257.184825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.24; MB_Bottom_Detect_Filter_Max_Range = 242.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.549675 meters # Minimum depth: 236.679889 meters looking forward 100.000000 meters along route # Maximum depth: 245.761150 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 186.679889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337253; longitude = -117.647201; captureRadius = 10; duration = 105; initialDepth = 186.679889; finalDepth = 196.592053; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.592772 # Actual altitude: 60.592772 # Commanded vehicle depth:186.679889 # Seafloor depth:-245.761150 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.24; MB_Bottom_Detect_Filter_Max_Range = 242.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.549247 meters # Minimum depth: 235.831013 meters looking forward 100.000000 meters along route # Maximum depth: 238.289731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 185.831013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337898; longitude = -117.646366; captureRadius = 10; duration = 105; initialDepth = 185.831013; finalDepth = 186.679889; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.081261 # Actual altitude: 59.081261 # Commanded vehicle depth:185.831013 # Seafloor depth:-237.304765 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.63; MB_Bottom_Detect_Filter_Max_Range = 236.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 177.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.548819 meters # Minimum depth: 228.586441 meters looking forward 100.000000 meters along route # Maximum depth: 235.332878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 178.586441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338542; longitude = -117.645531; captureRadius = 10; duration = 105; initialDepth = 178.586441; finalDepth = 185.831013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.746437 # Actual altitude: 56.746437 # Commanded vehicle depth:178.586441 # Seafloor depth:-235.332878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.70; MB_Bottom_Detect_Filter_Max_Range = 226.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.548390 meters # Minimum depth: 218.496676 meters looking forward 100.000000 meters along route # Maximum depth: 228.357462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 168.496676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339187; longitude = -117.644696; captureRadius = 10; duration = 105; initialDepth = 168.496676; finalDepth = 178.586441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.860786 # Actual altitude: 59.860786 # Commanded vehicle depth:168.496676 # Seafloor depth:-228.357462 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.94; MB_Bottom_Detect_Filter_Max_Range = 239.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 179.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 107.460059 meters # Minimum depth: 211.965869 meters looking forward 100.000000 meters along route # Maximum depth: 218.437387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 161.965869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339831; longitude = -117.643861; captureRadius = 10; duration = 107; initialDepth = 161.965869; finalDepth = 168.496676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.860786 # Actual altitude: 59.860786 # Commanded vehicle depth:161.965869 # Seafloor depth:-218.437387 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.94; MB_Bottom_Detect_Filter_Max_Range = 239.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 179.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.606868 meters # Minimum depth: 204.642293 meters looking forward 100.000000 meters along route # Maximum depth: 211.816799 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.642293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340487; longitude = -117.643011; captureRadius = 10; duration = 108; initialDepth = 154.642293; finalDepth = 161.965869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.174506 # Actual altitude: 57.174506 # Commanded vehicle depth:154.642293 # Seafloor depth:-211.816799 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.87; MB_Bottom_Detect_Filter_Max_Range = 228.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.575674 meters # Minimum depth: 195.952413 meters looking forward 100.000000 meters along route # Maximum depth: 204.190897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 145.952413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341150; longitude = -117.642152; captureRadius = 10; duration = 100; initialDepth = 145.952413; finalDepth = 154.642293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.238484 # Actual altitude: 58.238484 # Commanded vehicle depth:145.952413 # Seafloor depth:-204.190897 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.30; MB_Bottom_Detect_Filter_Max_Range = 232.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.546676 meters # Minimum depth: 183.878150 meters looking forward 100.000000 meters along route # Maximum depth: 194.319082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 133.878150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341764; longitude = -117.641357; captureRadius = 10; duration = 105; initialDepth = 133.878150; finalDepth = 145.952413; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.440932 # Actual altitude: 60.440932 # Commanded vehicle depth:133.87815 # Seafloor depth:-194.319082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.18; MB_Bottom_Detect_Filter_Max_Range = 241.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.546249 meters # Minimum depth: 170.372858 meters looking forward 100.000000 meters along route # Maximum depth: 181.955405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 120.372858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342408; longitude = -117.640522; captureRadius = 10; duration = 105; initialDepth = 120.372858; finalDepth = 133.878150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.582547 # Actual altitude: 61.582547 # Commanded vehicle depth:120.372858 # Seafloor depth:-181.955405 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.63; MB_Bottom_Detect_Filter_Max_Range = 246.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 184.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.545820 meters # Minimum depth: 152.286972 meters looking forward 100.000000 meters along route # Maximum depth: 168.239635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 102.286972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343053; longitude = -117.639687; captureRadius = 10; duration = 105; initialDepth = 102.286972; finalDepth = 120.372858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.952663 # Actual altitude: 65.952663 # Commanded vehicle depth:102.286972 # Seafloor depth:-168.239635 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 263.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.38; MB_Bottom_Detect_Filter_Max_Range = 263.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 197.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.545393 meters # Minimum depth: 134.776383 meters looking forward 100.000000 meters along route # Maximum depth: 150.817003 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.776383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343697; longitude = -117.638852; captureRadius = 10; duration = 105; initialDepth = 84.776383; finalDepth = 102.286972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.04062 # Actual altitude: 66.04062 # Commanded vehicle depth:84.776383 # Seafloor depth:-150.817003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 264.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.42; MB_Bottom_Detect_Filter_Max_Range = 264.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 198.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.544963 meters # Minimum depth: 116.482586 meters looking forward 100.000000 meters along route # Maximum depth: 133.457483 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.482586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344341; longitude = -117.638017; captureRadius = 10; duration = 105; initialDepth = 66.482586; finalDepth = 84.776383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.974897 # Actual altitude: 66.974897 # Commanded vehicle depth:66.482586 # Seafloor depth:-133.457483 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 267.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.79; MB_Bottom_Detect_Filter_Max_Range = 267.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.544536 meters # Minimum depth: 102.445500 meters looking forward 100.000000 meters along route # Maximum depth: 115.710809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.445500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344986; longitude = -117.637182; captureRadius = 10; duration = 105; initialDepth = 52.445500; finalDepth = 66.482586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.974897 # Actual altitude: 66.974897 # Commanded vehicle depth:52.4455 # Seafloor depth:-115.710809 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 267.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.79; MB_Bottom_Detect_Filter_Max_Range = 267.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 107.838540 meters # Minimum depth: 89.869912 meters looking forward 100.000000 meters along route # Maximum depth: 102.348561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 39.869912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345630; longitude = -117.636347; captureRadius = 10; duration = 107; initialDepth = 39.869912; finalDepth = 52.445500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.265309 # Actual altitude: 63.265309 # Commanded vehicle depth:39.869912 # Seafloor depth:-102.348561 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.31; MB_Bottom_Detect_Filter_Max_Range = 253.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 189.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 126.703339 meters # Minimum depth: 85.264637 meters looking forward 100.000000 meters along route # Maximum depth: 89.762764 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 35.264637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346288; longitude = -117.635494; captureRadius = 10; duration = 126; initialDepth = 35.264637; finalDepth = 39.869912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.478649 # Actual altitude: 62.478649 # Commanded vehicle depth:35.264637 # Seafloor depth:-89.762764 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.99; MB_Bottom_Detect_Filter_Max_Range = 249.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 187.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 54.498127 # Actual altitude: 54.498127 # Commanded vehicle depth:34.354574 # Seafloor depth:-84.354574 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 337.5; MB_Power = 220; MB_Range = 217.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.80; MB_Bottom_Detect_Filter_Max_Range = 217.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 500.000000 meters # Minimum depth: 84.354574 meters looking forward 100.000000 meters along route # Maximum depth: 89.277524 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 34.354574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347062; longitude = -117.634492; captureRadius = 10; duration = 500; initialDepth = 34.354574; finalDepth = 35.264637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 270.0; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 270.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; } # ####################################################### #######################################################