# 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_1v1.rte # Mission File: 20070713MAUV_1.cfg # Distance: 43484.258978 (m) # Estimated Time: 31711 (s) 8.809 (hr) # Abort Time: 33133 (s) # set to 8.75 hours = 31500 sec # Max battery life: 36000 (s) # Safety margin: 1800 (s) # Ascend time: 1066 (s) # Way Points: 27 # Route Points: 420 # Survey behavior: WaypointDepth # Descent style: Spiral 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 -118.064608 33.507320 -468.839699 0.000000 3 # 1 -118.102635 33.496199 -418.986526 3741.519334 4 # 2 -118.102102 33.494922 -424.045837 3891.519334 3 # 3 -118.064076 33.506042 -471.991493 7633.038668 4 # 4 -118.063544 33.504765 -475.286133 7783.038668 3 # 5 -118.101570 33.493644 -427.187943 11524.558002 4 # 6 -118.101037 33.492367 -430.487083 11674.558002 3 # 7 -118.063012 33.503488 -478.401566 15416.077336 4 # 8 -118.062480 33.502211 -479.915222 15566.077336 3 # 9 -118.100505 33.491090 -435.664795 19307.596671 4 # 10 -118.099973 33.489813 -439.200989 19457.596671 3 # 11 -118.061949 33.500933 -483.187386 23199.116005 4 # 12 -118.061417 33.499656 -485.072289 23349.116005 3 # 13 -118.099440 33.488536 -444.067352 27090.635339 4 # 14 -118.098908 33.487259 -447.660339 27240.635339 3 # 15 -118.060885 33.498379 -486.852898 30982.154673 4 # 16 -118.060353 33.497101 -484.458153 31132.154673 3 # 17 -118.098376 33.485982 -450.814636 34873.674007 4 # 18 -118.093510 33.485171 -453.275960 35334.609351 3 # 19 -118.098891 33.499700 -410.275024 37021.327948 4 # 20 -118.082390 33.504363 -450.804281 38639.073202 3 # 21 -118.077367 33.490552 -505.357463 40239.944761 4 # 22 -118.066785 33.493601 -505.470744 41279.604716 1 # 23 -118.066247 33.491987 -510.336263 41465.446066 1 # 24 -118.076291 33.489476 -504.880005 42439.272183 1 # 25 -118.075394 33.488220 -505.010010 42601.517203 1 # 26 -118.066247 33.490373 -518.093018 43484.258978 1 # # A total of 420 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 31500; } # # 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 = 1066; 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 26 # Segment length 17.308450 meters # Minimum depth: 518.093018 meters looking forward 100.000000 meters along route # Maximum depth: 518.093018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 468.093018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.490373; longitude = -118.066247; captureRadius = 10; duration = 17; # abortOnTimeout = True; initialDepth = 468.093018; finalDepth = 468.093018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:468.093018 # Seafloor depth:-518.093018 # 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 26 # Segment length 103.850879 meters # Minimum depth: 520.139122 meters looking forward 100.000000 meters along route # Maximum depth: 524.396662 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 470.139122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.490331; longitude = -118.066426; captureRadius = 10; duration = 103; initialDepth = 470.139122; finalDepth = 468.093018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:470.139122 # Seafloor depth:-520.139122 # 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 26 # Segment length 103.851185 meters # Minimum depth: 533.080204 meters looking forward 100.000000 meters along route # Maximum depth: 544.047664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.080204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.490077; longitude = -118.067503; captureRadius = 10; duration = 103; initialDepth = 483.080204; finalDepth = 470.139122; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:483.080204 # Seafloor depth:-533.080204 # 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 26 # Segment length 103.851490 meters # Minimum depth: 545.433980 meters looking forward 100.000000 meters along route # Maximum depth: 545.863622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.433980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.489824; longitude = -118.068579; captureRadius = 10; duration = 103; initialDepth = 495.433980; finalDepth = 483.080204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4296419999999 # Actual altitude: 50.4296419999999 # Commanded vehicle depth:495.43398 # Seafloor depth:-545.863622 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.72; 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 = 201.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 103.851795 meters # Minimum depth: 545.122450 meters looking forward 100.000000 meters along route # Maximum depth: 545.191159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.122450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.489571; longitude = -118.069655; captureRadius = 10; duration = 103; initialDepth = 495.122450; finalDepth = 495.433980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4296419999999 # Actual altitude: 50.4296419999999 # Commanded vehicle depth:495.12245 # Seafloor depth:-545.122450 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.72; 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 = 201.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 103.852101 meters # Minimum depth: 543.996078 meters looking forward 100.000000 meters along route # Maximum depth: 545.838424 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 493.996078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.489318; longitude = -118.070731; captureRadius = 10; duration = 103; initialDepth = 493.996078; finalDepth = 495.122450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.842346 # Actual altitude: 51.842346 # Commanded vehicle depth:493.996078 # Seafloor depth:-545.838424 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.37; 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 = 207.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 103.852406 meters # Minimum depth: 541.415975 meters looking forward 100.000000 meters along route # Maximum depth: 543.646154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 491.415975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.489064; longitude = -118.071807; captureRadius = 10; duration = 103; initialDepth = 491.415975; finalDepth = 493.996078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.230179 # Actual altitude: 52.230179 # Commanded vehicle depth:491.415975 # Seafloor depth:-543.646154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 208.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 103.852711 meters # Minimum depth: 514.167241 meters looking forward 100.000000 meters along route # Maximum depth: 537.631242 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 464.167241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.488811; longitude = -118.072883; captureRadius = 10; duration = 103; initialDepth = 464.167241; finalDepth = 491.415975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.4640010000001 # Actual altitude: 73.4640010000001 # Commanded vehicle depth:464.167241 # Seafloor depth:-537.631242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 293.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.39; MB_Bottom_Detect_Filter_Max_Range = 293.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 138.470758 meters # Minimum depth: 504.946090 meters looking forward 100.000000 meters along route # Maximum depth: 511.314703 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.946090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.488558; longitude = -118.073960; captureRadius = 10; duration = 138; initialDepth = 454.946090; finalDepth = 464.167241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.4640010000001 # Actual altitude: 73.4640010000001 # Commanded vehicle depth:454.94609 # Seafloor depth:-511.314703 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 293.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.39; MB_Bottom_Detect_Filter_Max_Range = 293.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 46.355777 meters # Minimum depth: 504.889813 meters looking forward 100.000000 meters along route # Maximum depth: 505.010010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.889813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.488220; longitude = -118.075394; captureRadius = 10; duration = 46; # abortOnTimeout = True; initialDepth = 454.889813; finalDepth = 454.946090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.368613 # Actual altitude: 56.368613 # Commanded vehicle depth:454.889813 # Seafloor depth:-505.010010 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.55; MB_Bottom_Detect_Filter_Max_Range = 225.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 115.889243 meters # Minimum depth: 504.910200 meters looking forward 100.000000 meters along route # Maximum depth: 504.991603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.910200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.488579; longitude = -118.075651; captureRadius = 10; duration = 115; initialDepth = 454.910200; finalDepth = 454.889813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.120197 # Actual altitude: 50.120197 # Commanded vehicle depth:454.9102 # Seafloor depth:-504.910200 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.05; MB_Bottom_Detect_Filter_Max_Range = 200.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 17.389998 meters # Minimum depth: 504.880005 meters looking forward 100.000000 meters along route # Maximum depth: 504.991603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.880005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.489476; longitude = -118.076291; captureRadius = 10; duration = 17; # abortOnTimeout = True; initialDepth = 454.880005; finalDepth = 454.910200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:454.880005 # Seafloor depth:-504.880005 # 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 24 # Segment length 104.339799 meters # Minimum depth: 504.711082 meters looking forward 100.000000 meters along route # Maximum depth: 505.057251 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.711082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.489521; longitude = -118.076112; captureRadius = 10; duration = 104; initialDepth = 454.711082; finalDepth = 454.880005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:454.711082 # Seafloor depth:-504.711082 # 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 24 # Segment length 104.339477 meters # Minimum depth: 504.721619 meters looking forward 100.000000 meters along route # Maximum depth: 509.436340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.721619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.489790; longitude = -118.075036; captureRadius = 10; duration = 104; initialDepth = 454.721619; finalDepth = 454.711082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:454.721619 # Seafloor depth:-504.721619 # 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 24 # Segment length 104.339156 meters # Minimum depth: 523.052902 meters looking forward 100.000000 meters along route # Maximum depth: 530.514893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.052902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.490059; longitude = -118.073960; captureRadius = 10; duration = 104; initialDepth = 473.052902; finalDepth = 454.721619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:473.052902 # Seafloor depth:-523.052902 # 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 24 # Segment length 104.338834 meters # Minimum depth: 531.664627 meters looking forward 100.000000 meters along route # Maximum depth: 533.086975 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 481.664627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.490328; longitude = -118.072883; captureRadius = 10; duration = 104; initialDepth = 481.664627; finalDepth = 473.052902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:481.664627 # Seafloor depth:-531.664627 # 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 24 # Segment length 104.338512 meters # Minimum depth: 535.639801 meters looking forward 100.000000 meters along route # Maximum depth: 538.048218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.639801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.490597; longitude = -118.071807; captureRadius = 10; duration = 104; initialDepth = 485.639801; finalDepth = 481.664627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:485.639801 # Seafloor depth:-535.639801 # 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 24 # Segment length 104.338191 meters # Minimum depth: 541.416443 meters looking forward 100.000000 meters along route # Maximum depth: 542.870483 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 491.416443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.490866; longitude = -118.070731; captureRadius = 10; duration = 104; initialDepth = 491.416443; finalDepth = 485.639801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:491.416443 # Seafloor depth:-541.416443 # 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 24 # Segment length 104.337870 meters # Minimum depth: 544.310760 meters looking forward 100.000000 meters along route # Maximum depth: 545.162292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.310760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491135; longitude = -118.069655; captureRadius = 10; duration = 104; initialDepth = 494.310760; finalDepth = 491.416443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:494.31076 # Seafloor depth:-544.310760 # 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 24 # Segment length 104.337548 meters # Minimum depth: 530.856628 meters looking forward 100.000000 meters along route # Maximum depth: 543.037811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.856628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491404; longitude = -118.068579; captureRadius = 10; duration = 104; initialDepth = 480.856628; finalDepth = 494.310760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.181183 # Actual altitude: 62.181183 # Commanded vehicle depth:480.856628 # Seafloor depth:-543.037811 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.87; MB_Bottom_Detect_Filter_Max_Range = 248.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 121.726732 meters # Minimum depth: 511.194695 meters looking forward 100.000000 meters along route # Maximum depth: 521.203308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 461.194695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491673; longitude = -118.067503; captureRadius = 10; duration = 121; initialDepth = 461.194695; finalDepth = 480.856628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.181183 # Actual altitude: 62.181183 # Commanded vehicle depth:461.194695 # Seafloor depth:-521.203308 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.87; MB_Bottom_Detect_Filter_Max_Range = 248.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 61.947137 meters # Minimum depth: 509.065833 meters looking forward 100.000000 meters along route # Maximum depth: 511.194695 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.065833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491987; longitude = -118.066247; captureRadius = 10; duration = 61; # abortOnTimeout = True; initialDepth = 459.065833; finalDepth = 461.194695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.008613 # Actual altitude: 60.008613 # Commanded vehicle depth:459.065833 # Seafloor depth:-510.336263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.03; 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 = 240.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 123.894213 meters # Minimum depth: 505.581373 meters looking forward 100.000000 meters along route # Maximum depth: 508.473104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.581373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492525; longitude = -118.066426; captureRadius = 10; duration = 123; initialDepth = 455.581373; finalDepth = 459.065833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.891731 # Actual altitude: 52.891731 # Commanded vehicle depth:455.581373 # Seafloor depth:-508.473104 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.57; 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 = 211.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 70.484313 meters # Minimum depth: 505.470744 meters looking forward 100.000000 meters along route # Maximum depth: 511.780442 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.470744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493601; longitude = -118.066785; captureRadius = 10; duration = 70; # abortOnTimeout = True; initialDepth = 455.470744; finalDepth = 455.581373; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.891731 # Actual altitude: 52.891731 # Commanded vehicle depth:455.470744 # Seafloor depth:-505.470744 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.57; 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 = 211.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 105.726772 meters # Minimum depth: 513.136069 meters looking forward 100.000000 meters along route # Maximum depth: 517.942285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 463.136069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493395; longitude = -118.067503; captureRadius = 10; duration = 105; initialDepth = 463.136069; finalDepth = 455.470744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:463.136069 # Seafloor depth:-513.136069 # 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 22 # Segment length 105.727134 meters # Minimum depth: 526.237071 meters looking forward 100.000000 meters along route # Maximum depth: 539.795521 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.237071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493084; longitude = -118.068579; captureRadius = 10; duration = 105; initialDepth = 476.237071; finalDepth = 463.136069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:476.237071 # Seafloor depth:-526.237071 # 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 22 # Segment length 105.727497 meters # Minimum depth: 540.548706 meters looking forward 100.000000 meters along route # Maximum depth: 541.082152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.548706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492774; longitude = -118.069655; captureRadius = 10; duration = 105; initialDepth = 490.548706; finalDepth = 476.237071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5334459999999 # Actual altitude: 50.5334459999999 # Commanded vehicle depth:490.548706 # Seafloor depth:-541.082152 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 105.727859 meters # Minimum depth: 536.501243 meters looking forward 100.000000 meters along route # Maximum depth: 538.570508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 486.501243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492464; longitude = -118.070731; captureRadius = 10; duration = 105; initialDepth = 486.501243; finalDepth = 490.548706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.069265 # Actual altitude: 52.069265 # Commanded vehicle depth:486.501243 # Seafloor depth:-538.570508 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.28; 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 = 208.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 105.728221 meters # Minimum depth: 532.023693 meters looking forward 100.000000 meters along route # Maximum depth: 534.228455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.023693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492154; longitude = -118.071807; captureRadius = 10; duration = 105; initialDepth = 482.023693; finalDepth = 486.501243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2047620000001 # Actual altitude: 52.2047620000001 # Commanded vehicle depth:482.023693 # Seafloor depth:-534.228455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 105.728584 meters # Minimum depth: 531.865522 meters looking forward 100.000000 meters along route # Maximum depth: 532.139088 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 481.865522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491844; longitude = -118.072883; captureRadius = 10; duration = 105; initialDepth = 481.865522; finalDepth = 482.023693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2047620000001 # Actual altitude: 52.2047620000001 # Commanded vehicle depth:481.865522 # Seafloor depth:-531.865522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 105.728947 meters # Minimum depth: 510.512128 meters looking forward 100.000000 meters along route # Maximum depth: 530.083886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 460.512128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491534; longitude = -118.073960; captureRadius = 10; duration = 105; initialDepth = 460.512128; finalDepth = 481.865522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.571758 # Actual altitude: 69.571758 # Commanded vehicle depth:460.512128 # Seafloor depth:-530.083886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 278.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.83; MB_Bottom_Detect_Filter_Max_Range = 278.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 105.729309 meters # Minimum depth: 504.430684 meters looking forward 100.000000 meters along route # Maximum depth: 506.651701 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.430684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491224; longitude = -118.075036; captureRadius = 10; duration = 105; initialDepth = 454.430684; finalDepth = 460.512128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.571758 # Actual altitude: 69.571758 # Commanded vehicle depth:454.430684 # Seafloor depth:-506.651701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 278.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.83; MB_Bottom_Detect_Filter_Max_Range = 278.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 123.351319 meters # Minimum depth: 504.549671 meters looking forward 100.000000 meters along route # Maximum depth: 505.019594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.549671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.490914; longitude = -118.076112; captureRadius = 10; duration = 123; initialDepth = 454.549671; finalDepth = 454.430684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.221017 # Actual altitude: 52.221017 # Commanded vehicle depth:454.549671 # Seafloor depth:-504.549671 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 208.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 83.162566 meters # Minimum depth: 505.357463 meters looking forward 100.000000 meters along route # Maximum depth: 505.473752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.357463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.490552; longitude = -118.077367; captureRadius = 10; duration = 83; # abortOnTimeout = True; initialDepth = 455.357463; finalDepth = 454.549671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:455.357463 # Seafloor depth:-505.357463 # 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 21 # Segment length 124.743765 meters # Minimum depth: 505.624895 meters looking forward 100.000000 meters along route # Maximum depth: 506.964475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.624895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491270; longitude = -118.077628; captureRadius = 10; duration = 124; initialDepth = 455.624895; finalDepth = 455.357463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:455.624895 # Seafloor depth:-505.624895 # 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 21 # Segment length 124.743666 meters # Minimum depth: 508.241372 meters looking forward 100.000000 meters along route # Maximum depth: 509.400291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.241372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492346; longitude = -118.078020; captureRadius = 10; duration = 124; initialDepth = 458.241372; finalDepth = 455.624895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:458.241372 # Seafloor depth:-508.241372 # 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 21 # Segment length 124.743564 meters # Minimum depth: 509.887337 meters looking forward 100.000000 meters along route # Maximum depth: 510.565835 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.887337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493422; longitude = -118.078411; captureRadius = 10; duration = 124; initialDepth = 459.887337; finalDepth = 458.241372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:459.887337 # Seafloor depth:-509.887337 # 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 21 # Segment length 124.743465 meters # Minimum depth: 510.228577 meters looking forward 100.000000 meters along route # Maximum depth: 511.196533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 460.228577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.494498; longitude = -118.078802; captureRadius = 10; duration = 124; initialDepth = 460.228577; finalDepth = 459.887337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.967956 # Actual altitude: 50.967956 # Commanded vehicle depth:460.228577 # Seafloor depth:-511.196533 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 124.743363 meters # Minimum depth: 499.443662 meters looking forward 100.000000 meters along route # Maximum depth: 506.153162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 449.443662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.495574; longitude = -118.079194; captureRadius = 10; duration = 124; initialDepth = 449.443662; finalDepth = 460.228577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.7095 # Actual altitude: 56.7095 # Commanded vehicle depth:449.443662 # Seafloor depth:-506.153162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.68; MB_Bottom_Detect_Filter_Max_Range = 226.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 124.743264 meters # Minimum depth: 492.467712 meters looking forward 100.000000 meters along route # Maximum depth: 495.044500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.467712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.496650; longitude = -118.079585; captureRadius = 10; duration = 124; initialDepth = 442.467712; finalDepth = 449.443662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.7095 # Actual altitude: 56.7095 # Commanded vehicle depth:442.467712 # Seafloor depth:-495.044500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.68; MB_Bottom_Detect_Filter_Max_Range = 226.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 140.336051 meters # Minimum depth: 464.771423 meters looking forward 100.000000 meters along route # Maximum depth: 491.316878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 414.771423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.497727; longitude = -118.079976; captureRadius = 10; duration = 140; initialDepth = 414.771423; finalDepth = 442.467712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.5454549999999 # Actual altitude: 76.5454549999999 # Commanded vehicle depth:414.771423 # Seafloor depth:-491.316878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 306.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.62; MB_Bottom_Detect_Filter_Max_Range = 306.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.150175 meters # Minimum depth: 460.323159 meters looking forward 100.000000 meters along route # Maximum depth: 463.653290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.323159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.498937; longitude = -118.080417; captureRadius = 10; duration = 109; initialDepth = 410.323159; finalDepth = 414.771423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.5454549999999 # Actual altitude: 76.5454549999999 # Commanded vehicle depth:410.323159 # Seafloor depth:-463.653290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 306.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.62; MB_Bottom_Detect_Filter_Max_Range = 306.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 124.742962 meters # Minimum depth: 456.602264 meters looking forward 100.000000 meters along route # Maximum depth: 457.761230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 406.602264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.499879; longitude = -118.080759; captureRadius = 10; duration = 124; initialDepth = 406.602264; finalDepth = 410.323159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.3301310000001 # Actual altitude: 53.3301310000001 # Commanded vehicle depth:406.602264 # Seafloor depth:-457.761230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.32; 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 = 213.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 124.742862 meters # Minimum depth: 454.323502 meters looking forward 100.000000 meters along route # Maximum depth: 455.779383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.323502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.500955; longitude = -118.081150; captureRadius = 10; duration = 124; initialDepth = 404.323502; finalDepth = 406.602264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.455881 # Actual altitude: 51.455881 # Commanded vehicle depth:404.323502 # Seafloor depth:-455.779383 # 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 21 # Segment length 155.928436 meters # Minimum depth: 452.249284 meters looking forward 100.000000 meters along route # Maximum depth: 454.060400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 402.249284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.502031; longitude = -118.081542; captureRadius = 10; duration = 155; initialDepth = 402.249284; finalDepth = 404.323502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.811116 # Actual altitude: 51.811116 # Commanded vehicle depth:402.249284 # Seafloor depth:-454.060400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.24; 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 = 207.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 114.347420 meters # Minimum depth: 451.301980 meters looking forward 100.000000 meters along route # Maximum depth: 452.042740 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.301980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.503376; longitude = -118.082031; captureRadius = 10; duration = 114; initialDepth = 401.301980; finalDepth = 402.249284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.811116 # Actual altitude: 51.811116 # Commanded vehicle depth:401.30198 # Seafloor depth:-452.042740 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.24; 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 = 207.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 17.583737 meters # Minimum depth: 450.804281 meters looking forward 100.000000 meters along route # Maximum depth: 451.301980 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 400.804281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.504363; longitude = -118.082390; captureRadius = 10; duration = 17; # abortOnTimeout = True; initialDepth = 400.804281; finalDepth = 401.301980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.74076 # Actual altitude: 50.74076 # Commanded vehicle depth:400.804281 # Seafloor depth:-450.804281 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.96; 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 = 202.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 105.502625 meters # Minimum depth: 451.056793 meters looking forward 100.000000 meters along route # Maximum depth: 451.342313 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.056793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.504312; longitude = -118.082569; captureRadius = 10; duration = 105; initialDepth = 401.056793; finalDepth = 400.804281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:401.056793 # Seafloor depth:-451.056793 # 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 20 # Segment length 105.502982 meters # Minimum depth: 447.911751 meters looking forward 100.000000 meters along route # Maximum depth: 450.060163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.911751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.504008; longitude = -118.083645; captureRadius = 10; duration = 105; initialDepth = 397.911751; finalDepth = 401.056793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.148412 # Actual altitude: 52.148412 # Commanded vehicle depth:397.911751 # Seafloor depth:-450.060163 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.59; 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 = 208.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 105.503339 meters # Minimum depth: 443.361061 meters looking forward 100.000000 meters along route # Maximum depth: 445.259652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.361061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.503704; longitude = -118.084721; captureRadius = 10; duration = 105; initialDepth = 393.361061; finalDepth = 397.911751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.148412 # Actual altitude: 52.148412 # Commanded vehicle depth:393.361061 # Seafloor depth:-445.259652 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.59; 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 = 208.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 105.503697 meters # Minimum depth: 439.894205 meters looking forward 100.000000 meters along route # Maximum depth: 442.083530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.894205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.503400; longitude = -118.085797; captureRadius = 10; duration = 105; initialDepth = 389.894205; finalDepth = 393.361061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.189325 # Actual altitude: 52.189325 # Commanded vehicle depth:389.894205 # Seafloor depth:-442.083530 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 105.504053 meters # Minimum depth: 438.982218 meters looking forward 100.000000 meters along route # Maximum depth: 439.805360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.982218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.503096; longitude = -118.086874; captureRadius = 10; duration = 105; initialDepth = 388.982218; finalDepth = 389.894205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.189325 # Actual altitude: 52.189325 # Commanded vehicle depth:388.982218 # Seafloor depth:-439.805360 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 105.504411 meters # Minimum depth: 437.526494 meters looking forward 100.000000 meters along route # Maximum depth: 438.148475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.526494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.502792; longitude = -118.087950; captureRadius = 10; duration = 105; initialDepth = 387.526494; finalDepth = 388.982218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.823142 # Actual altitude: 50.823142 # Commanded vehicle depth:387.526494 # Seafloor depth:-438.148475 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.29; 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 = 203.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 105.504768 meters # Minimum depth: 437.070155 meters looking forward 100.000000 meters along route # Maximum depth: 437.337233 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.070155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.502487; longitude = -118.089026; captureRadius = 10; duration = 105; initialDepth = 387.070155; finalDepth = 387.526494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.621981 # Actual altitude: 50.621981 # Commanded vehicle depth:387.070155 # Seafloor depth:-437.337233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 105.505125 meters # Minimum depth: 436.236328 meters looking forward 100.000000 meters along route # Maximum depth: 436.939149 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.236328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.502183; longitude = -118.090102; captureRadius = 10; duration = 105; initialDepth = 386.236328; finalDepth = 387.070155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.702821 # Actual altitude: 50.702821 # Commanded vehicle depth:386.236328 # Seafloor depth:-436.939149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.81; 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 = 202.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 105.505482 meters # Minimum depth: 431.867940 meters looking forward 100.000000 meters along route # Maximum depth: 434.580923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.867940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.501879; longitude = -118.091178; captureRadius = 10; duration = 105; initialDepth = 381.867940; finalDepth = 386.236328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.712983 # Actual altitude: 52.712983 # Commanded vehicle depth:381.86794 # Seafloor depth:-434.580923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.09; MB_Bottom_Detect_Filter_Max_Range = 210.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 105.505840 meters # Minimum depth: 423.992441 meters looking forward 100.000000 meters along route # Maximum depth: 427.896205 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.992441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.501575; longitude = -118.092254; captureRadius = 10; duration = 105; initialDepth = 373.992441; finalDepth = 381.867940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.903764 # Actual altitude: 53.903764 # Commanded vehicle depth:373.992441 # Seafloor depth:-427.896205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.62; 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 = 215.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.564134 meters # Minimum depth: 414.878859 meters looking forward 100.000000 meters along route # Maximum depth: 419.852018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 364.878859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.501271; longitude = -118.093331; captureRadius = 10; duration = 109; initialDepth = 364.878859; finalDepth = 373.992441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.973159 # Actual altitude: 54.973159 # Commanded vehicle depth:364.878859 # Seafloor depth:-419.852018 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.99; MB_Bottom_Detect_Filter_Max_Range = 219.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 101.448616 meters # Minimum depth: 413.373103 meters looking forward 100.000000 meters along route # Maximum depth: 414.756648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 363.373103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.500955; longitude = -118.094448; captureRadius = 10; duration = 101; initialDepth = 363.373103; finalDepth = 364.878859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.973159 # Actual altitude: 54.973159 # Commanded vehicle depth:363.373103 # Seafloor depth:-414.756648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.99; MB_Bottom_Detect_Filter_Max_Range = 219.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 105.506912 meters # Minimum depth: 411.319974 meters looking forward 100.000000 meters along route # Maximum depth: 412.453281 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 361.319974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.500663; longitude = -118.095483; captureRadius = 10; duration = 105; initialDepth = 361.319974; finalDepth = 363.373103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.383545 # Actual altitude: 51.383545 # Commanded vehicle depth:361.319974 # Seafloor depth:-412.453281 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.53; 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 = 205.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 105.507268 meters # Minimum depth: 410.854750 meters looking forward 100.000000 meters along route # Maximum depth: 411.226953 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 360.854750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.500358; longitude = -118.096559; captureRadius = 10; duration = 105; initialDepth = 360.854750; finalDepth = 361.319974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.133307 # Actual altitude: 51.133307 # Commanded vehicle depth:360.85475 # Seafloor depth:-411.226953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.53; 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 = 204.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 123.092265 meters # Minimum depth: 410.266470 meters looking forward 100.000000 meters along route # Maximum depth: 410.488460 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 360.266470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.500054; longitude = -118.097635; captureRadius = 10; duration = 123; initialDepth = 360.266470; finalDepth = 360.854750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.372203 # Actual altitude: 50.372203 # Commanded vehicle depth:360.26647 # Seafloor depth:-410.488460 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.49; 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 = 201.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 56.223646 meters # Minimum depth: 410.266470 meters looking forward 100.000000 meters along route # Maximum depth: 411.244195 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 360.266470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.499700; longitude = -118.098891; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 360.266470; finalDepth = 360.266470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2219899999999 # Actual altitude: 50.2219899999999 # Commanded vehicle depth:360.26647 # Seafloor depth:-410.275024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 110.364996 meters # Minimum depth: 411.570000 meters looking forward 100.000000 meters along route # Maximum depth: 412.613197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 361.570000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.499215; longitude = -118.098711; captureRadius = 10; duration = 110; initialDepth = 361.570000; finalDepth = 360.266470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0085539999999 # Actual altitude: 50.0085539999999 # Commanded vehicle depth:361.57 # Seafloor depth:-411.570000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.03; 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 = 200.03; 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 19 # Segment length 124.941603 meters # Minimum depth: 414.250042 meters looking forward 100.000000 meters along route # Maximum depth: 415.564317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 364.250042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.498265; longitude = -118.098359; captureRadius = 10; duration = 124; initialDepth = 364.250042; finalDepth = 361.570000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:364.250042 # Seafloor depth:-414.250042 # 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 19 # Segment length 124.941709 meters # Minimum depth: 417.377901 meters looking forward 100.000000 meters along route # Maximum depth: 420.116333 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 367.377901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.497188; longitude = -118.097961; captureRadius = 10; duration = 124; initialDepth = 367.377901; finalDepth = 364.250042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:367.377901 # Seafloor depth:-417.377901 # 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 19 # Segment length 145.765458 meters # Minimum depth: 420.670012 meters looking forward 100.000000 meters along route # Maximum depth: 423.979852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.670012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.496112; longitude = -118.097562; captureRadius = 10; duration = 145; initialDepth = 370.670012; finalDepth = 367.377901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:370.670012 # Seafloor depth:-420.670012 # 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 19 # Segment length 104.118272 meters # Minimum depth: 424.535299 meters looking forward 100.000000 meters along route # Maximum depth: 425.654767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 374.535299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.494857; longitude = -118.097097; captureRadius = 10; duration = 104; initialDepth = 374.535299; finalDepth = 370.670012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:374.535299 # Seafloor depth:-424.535299 # 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 19 # Segment length 124.942022 meters # Minimum depth: 427.312737 meters looking forward 100.000000 meters along route # Maximum depth: 429.048422 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.312737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493960; longitude = -118.096765; captureRadius = 10; duration = 124; initialDepth = 377.312737; finalDepth = 374.535299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:377.312737 # Seafloor depth:-427.312737 # 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 19 # Segment length 124.942127 meters # Minimum depth: 430.373399 meters looking forward 100.000000 meters along route # Maximum depth: 433.111995 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.373399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492884; longitude = -118.096366; captureRadius = 10; duration = 124; initialDepth = 380.373399; finalDepth = 377.312737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:380.373399 # Seafloor depth:-430.373399 # 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 19 # Segment length 124.942232 meters # Minimum depth: 433.575007 meters looking forward 100.000000 meters along route # Maximum depth: 435.481146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.575007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491808; longitude = -118.095968; captureRadius = 10; duration = 124; initialDepth = 383.575007; finalDepth = 380.373399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:383.575007 # Seafloor depth:-433.575007 # 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 19 # Segment length 124.942336 meters # Minimum depth: 437.148933 meters looking forward 100.000000 meters along route # Maximum depth: 438.848380 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.148933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.490731; longitude = -118.095569; captureRadius = 10; duration = 124; initialDepth = 387.148933; finalDepth = 383.575007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:387.148933 # Seafloor depth:-437.148933 # 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 19 # Segment length 124.942441 meters # Minimum depth: 440.677332 meters looking forward 100.000000 meters along route # Maximum depth: 442.722984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.677332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.489655; longitude = -118.095171; captureRadius = 10; duration = 124; initialDepth = 390.677332; finalDepth = 387.148933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:390.677332 # Seafloor depth:-440.677332 # 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 19 # Segment length 124.942546 meters # Minimum depth: 444.028946 meters looking forward 100.000000 meters along route # Maximum depth: 446.208603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.028946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.488579; longitude = -118.094772; captureRadius = 10; duration = 124; initialDepth = 394.028946; finalDepth = 390.677332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:394.028946 # Seafloor depth:-444.028946 # 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 19 # Segment length 158.260709 meters # Minimum depth: 446.441761 meters looking forward 100.000000 meters along route # Maximum depth: 449.124436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.441761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.487503; longitude = -118.094374; captureRadius = 10; duration = 158; initialDepth = 396.441761; finalDepth = 394.028946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:396.441761 # Seafloor depth:-446.441761 # 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 19 # Segment length 112.448500 meters # Minimum depth: 450.209375 meters looking forward 100.000000 meters along route # Maximum depth: 452.803887 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 400.209375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.486140; longitude = -118.093869; captureRadius = 10; duration = 112; initialDepth = 400.209375; finalDepth = 396.441761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:400.209375 # Seafloor depth:-450.209375 # 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 18 # Segment length 33.981933 meters # Minimum depth: 452.803887 meters looking forward 100.000000 meters along route # Maximum depth: 453.275960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 402.803887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.485171; longitude = -118.093510; captureRadius = 10; duration = 33; # abortOnTimeout = True; initialDepth = 402.803887; finalDepth = 400.209375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.472073 # Actual altitude: 50.472073 # Commanded vehicle depth:402.803887 # Seafloor depth:-453.275960 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.945682 meters # Minimum depth: 452.581760 meters looking forward 100.000000 meters along route # Maximum depth: 453.078160 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 402.581760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.485231; longitude = -118.093869; captureRadius = 10; duration = 101; initialDepth = 402.581760; finalDepth = 402.803887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4964000000001 # Actual altitude: 50.4964000000001 # Commanded vehicle depth:402.58176 # Seafloor depth:-453.078160 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.99; 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 = 201.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.945506 meters # Minimum depth: 452.294259 meters looking forward 100.000000 meters along route # Maximum depth: 452.396930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 402.294259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.485410; longitude = -118.094945; captureRadius = 10; duration = 101; initialDepth = 402.294259; finalDepth = 402.581760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4964000000001 # Actual altitude: 50.4964000000001 # Commanded vehicle depth:402.294259 # Seafloor depth:-452.396930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.99; 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 = 201.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.945329 meters # Minimum depth: 452.058614 meters looking forward 100.000000 meters along route # Maximum depth: 452.198955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 402.058614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.485589; longitude = -118.096021; captureRadius = 10; duration = 101; initialDepth = 402.058614; finalDepth = 402.294259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.140341 # Actual altitude: 50.140341 # Commanded vehicle depth:402.058614 # Seafloor depth:-452.198955 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.56; 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 = 200.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 121.116894 meters # Minimum depth: 451.583772 meters looking forward 100.000000 meters along route # Maximum depth: 451.893501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.583772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.485769; longitude = -118.097097; captureRadius = 10; duration = 121; initialDepth = 401.583772; finalDepth = 402.058614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.309729 # Actual altitude: 50.309729 # Commanded vehicle depth:401.583772 # Seafloor depth:-451.893501 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.24; 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 = 201.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 19.916235 meters # Minimum depth: 450.814636 meters looking forward 100.000000 meters along route # Maximum depth: 451.721446 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 400.814636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.485982; longitude = -118.098376; captureRadius = 10; duration = 19; # abortOnTimeout = True; initialDepth = 400.814636; finalDepth = 401.583772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.309729 # Actual altitude: 50.309729 # Commanded vehicle depth:400.814636 # Seafloor depth:-450.814636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.24; 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 = 201.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.903652 meters # Minimum depth: 450.656033 meters looking forward 100.000000 meters along route # Maximum depth: 451.249488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 400.656033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.486041; longitude = -118.098173; captureRadius = 10; duration = 105; initialDepth = 400.656033; finalDepth = 400.814636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.593455 # Actual altitude: 50.593455 # Commanded vehicle depth:400.656033 # Seafloor depth:-451.249488 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.37; 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 = 202.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.903284 meters # Minimum depth: 449.377709 meters looking forward 100.000000 meters along route # Maximum depth: 449.966575 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.377709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.486356; longitude = -118.097097; captureRadius = 10; duration = 105; initialDepth = 399.377709; finalDepth = 400.656033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.593455 # Actual altitude: 50.593455 # Commanded vehicle depth:399.377709 # Seafloor depth:-449.966575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.37; 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 = 202.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.902917 meters # Minimum depth: 447.735917 meters looking forward 100.000000 meters along route # Maximum depth: 448.909129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.735917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.486670; longitude = -118.096021; captureRadius = 10; duration = 105; initialDepth = 397.735917; finalDepth = 399.377709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.173212 # Actual altitude: 51.173212 # Commanded vehicle depth:397.735917 # Seafloor depth:-448.909129 # 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 = 153.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.902549 meters # Minimum depth: 447.288184 meters looking forward 100.000000 meters along route # Maximum depth: 447.659578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.288184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.486985; longitude = -118.094945; captureRadius = 10; duration = 105; initialDepth = 397.288184; finalDepth = 397.735917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.173212 # Actual altitude: 51.173212 # Commanded vehicle depth:397.288184 # Seafloor depth:-447.659578 # 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 = 153.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.902182 meters # Minimum depth: 447.014920 meters looking forward 100.000000 meters along route # Maximum depth: 447.316182 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.014920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.487300; longitude = -118.093869; captureRadius = 10; duration = 105; initialDepth = 397.014920; finalDepth = 397.288184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.371394 # Actual altitude: 50.371394 # Commanded vehicle depth:397.01492 # Seafloor depth:-447.204169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.49; 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 = 201.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.901814 meters # Minimum depth: 448.285406 meters looking forward 100.000000 meters along route # Maximum depth: 460.951273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.285406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.487614; longitude = -118.092792; captureRadius = 10; duration = 105; initialDepth = 398.285406; finalDepth = 397.014920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.189249 # Actual altitude: 50.189249 # Commanded vehicle depth:398.285406 # Seafloor depth:-448.285406 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.76; 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 = 200.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.901447 meters # Minimum depth: 493.124749 meters looking forward 100.000000 meters along route # Maximum depth: 504.758233 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.124749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.487929; longitude = -118.091716; captureRadius = 10; duration = 105; initialDepth = 443.124749; finalDepth = 398.285406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:443.124749 # Seafloor depth:-493.124749 # 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 17 # Segment length 105.901080 meters # Minimum depth: 507.427111 meters looking forward 100.000000 meters along route # Maximum depth: 508.317871 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.427111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.488244; longitude = -118.090640; captureRadius = 10; duration = 105; initialDepth = 457.427111; finalDepth = 443.124749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:457.427111 # Seafloor depth:-507.427111 # 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 17 # Segment length 105.900712 meters # Minimum depth: 508.595154 meters looking forward 100.000000 meters along route # Maximum depth: 509.003367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.595154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.488559; longitude = -118.089564; captureRadius = 10; duration = 105; initialDepth = 458.595154; finalDepth = 457.427111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:458.595154 # Seafloor depth:-508.595154 # 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 17 # Segment length 105.900344 meters # Minimum depth: 509.237637 meters looking forward 100.000000 meters along route # Maximum depth: 509.481305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.237637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.488873; longitude = -118.088488; captureRadius = 10; duration = 105; initialDepth = 459.237637; finalDepth = 458.595154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.060416 # Actual altitude: 50.060416 # Commanded vehicle depth:459.237637 # Seafloor depth:-509.298053 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.899977 meters # Minimum depth: 509.023084 meters looking forward 100.000000 meters along route # Maximum depth: 509.871320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.023084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.489188; longitude = -118.087412; captureRadius = 10; duration = 105; initialDepth = 459.023084; finalDepth = 459.237637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.060416 # Actual altitude: 50.060416 # Commanded vehicle depth:459.023084 # Seafloor depth:-509.023084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.899610 meters # Minimum depth: 508.907456 meters looking forward 100.000000 meters along route # Maximum depth: 509.813661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.907456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.489503; longitude = -118.086336; captureRadius = 10; duration = 105; initialDepth = 458.907456; finalDepth = 459.023084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.906205 # Actual altitude: 50.906205 # Commanded vehicle depth:458.907456 # Seafloor depth:-509.813661 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.899243 meters # Minimum depth: 507.735642 meters looking forward 100.000000 meters along route # Maximum depth: 508.283190 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.735642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.489818; longitude = -118.085259; captureRadius = 10; duration = 105; initialDepth = 457.735642; finalDepth = 458.907456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.906205 # Actual altitude: 50.906205 # Commanded vehicle depth:457.735642 # Seafloor depth:-508.283190 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.898875 meters # Minimum depth: 507.253941 meters looking forward 100.000000 meters along route # Maximum depth: 507.341716 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.253941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.490132; longitude = -118.084183; captureRadius = 10; duration = 105; initialDepth = 457.253941; finalDepth = 457.735642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.547548 # Actual altitude: 50.547548 # Commanded vehicle depth:457.253941 # Seafloor depth:-507.341716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.898508 meters # Minimum depth: 507.426659 meters looking forward 100.000000 meters along route # Maximum depth: 507.773647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.426659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.490447; longitude = -118.083107; captureRadius = 10; duration = 105; initialDepth = 457.426659; finalDepth = 457.253941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.087775 # Actual altitude: 50.087775 # Commanded vehicle depth:457.426659 # Seafloor depth:-507.426659 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.35; 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 = 200.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.898141 meters # Minimum depth: 507.514497 meters looking forward 100.000000 meters along route # Maximum depth: 507.820714 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.514497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.490762; longitude = -118.082031; captureRadius = 10; duration = 105; initialDepth = 457.514497; finalDepth = 457.426659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.306217 # Actual altitude: 50.306217 # Commanded vehicle depth:457.514497 # Seafloor depth:-507.820714 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.22; 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 = 201.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.897773 meters # Minimum depth: 507.105692 meters looking forward 100.000000 meters along route # Maximum depth: 507.760903 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.105692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491076; longitude = -118.080955; captureRadius = 10; duration = 105; initialDepth = 457.105692; finalDepth = 457.514497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.306217 # Actual altitude: 50.306217 # Commanded vehicle depth:457.105692 # Seafloor depth:-507.105692 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.22; 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 = 201.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.897407 meters # Minimum depth: 508.318795 meters looking forward 100.000000 meters along route # Maximum depth: 508.473365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.318795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491391; longitude = -118.079879; captureRadius = 10; duration = 105; initialDepth = 458.318795; finalDepth = 457.105692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:458.318795 # Seafloor depth:-508.318795 # 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 17 # Segment length 105.897039 meters # Minimum depth: 507.754804 meters looking forward 100.000000 meters along route # Maximum depth: 507.849112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.754804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491706; longitude = -118.078802; captureRadius = 10; duration = 105; initialDepth = 457.754804; finalDepth = 458.318795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.094308 # Actual altitude: 50.094308 # Commanded vehicle depth:457.754804 # Seafloor depth:-507.849112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.38; 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 = 200.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.382773 meters # Minimum depth: 506.359388 meters looking forward 100.000000 meters along route # Maximum depth: 507.196510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.359388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492021; longitude = -118.077726; captureRadius = 10; duration = 109; initialDepth = 456.359388; finalDepth = 457.754804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.837122 # Actual altitude: 50.837122 # Commanded vehicle depth:456.359388 # Seafloor depth:-507.196510 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.35; 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 = 203.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 102.410204 meters # Minimum depth: 505.924797 meters looking forward 100.000000 meters along route # Maximum depth: 506.334938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.924797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492346; longitude = -118.076615; captureRadius = 10; duration = 102; initialDepth = 455.924797; finalDepth = 456.359388; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.837122 # Actual altitude: 50.837122 # Commanded vehicle depth:455.924797 # Seafloor depth:-506.334938 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.35; 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 = 203.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.895937 meters # Minimum depth: 506.127653 meters looking forward 100.000000 meters along route # Maximum depth: 517.689061 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.127653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492650; longitude = -118.075574; captureRadius = 10; duration = 105; initialDepth = 456.127653; finalDepth = 455.924797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.410141 # Actual altitude: 50.410141 # Commanded vehicle depth:456.127653 # Seafloor depth:-506.127653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.64; 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 = 201.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.895571 meters # Minimum depth: 524.528729 meters looking forward 100.000000 meters along route # Maximum depth: 529.273349 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 474.528729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492965; longitude = -118.074498; captureRadius = 10; duration = 105; initialDepth = 474.528729; finalDepth = 456.127653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:474.528729 # Seafloor depth:-524.528729 # 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 17 # Segment length 105.895204 meters # Minimum depth: 532.010131 meters looking forward 100.000000 meters along route # Maximum depth: 534.700697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.010131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493280; longitude = -118.073422; captureRadius = 10; duration = 105; initialDepth = 482.010131; finalDepth = 474.528729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:482.010131 # Seafloor depth:-532.010131 # 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 17 # Segment length 105.894836 meters # Minimum depth: 534.397978 meters looking forward 100.000000 meters along route # Maximum depth: 534.468034 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.397978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493594; longitude = -118.072345; captureRadius = 10; duration = 105; initialDepth = 484.397978; finalDepth = 482.010131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.070056 # Actual altitude: 50.070056 # Commanded vehicle depth:484.397978 # Seafloor depth:-534.468034 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.28; 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 = 200.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.894470 meters # Minimum depth: 535.039218 meters looking forward 100.000000 meters along route # Maximum depth: 536.666543 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.039218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493909; longitude = -118.071269; captureRadius = 10; duration = 105; initialDepth = 485.039218; finalDepth = 484.397978; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.070056 # Actual altitude: 50.070056 # Commanded vehicle depth:485.039218 # Seafloor depth:-535.039218 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.28; 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 = 200.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.894103 meters # Minimum depth: 523.874106 meters looking forward 100.000000 meters along route # Maximum depth: 537.859186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.874106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.494224; longitude = -118.070193; captureRadius = 10; duration = 105; initialDepth = 473.874106; finalDepth = 485.039218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.98508 # Actual altitude: 63.98508 # Commanded vehicle depth:473.874106 # Seafloor depth:-537.859186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 255.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.59; MB_Bottom_Detect_Filter_Max_Range = 255.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 191.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.893735 meters # Minimum depth: 513.584345 meters looking forward 100.000000 meters along route # Maximum depth: 519.899616 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 463.584345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.494538; longitude = -118.069117; captureRadius = 10; duration = 105; initialDepth = 463.584345; finalDepth = 473.874106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.98508 # Actual altitude: 63.98508 # Commanded vehicle depth:463.584345 # Seafloor depth:-519.899616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 255.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.59; MB_Bottom_Detect_Filter_Max_Range = 255.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 191.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.893369 meters # Minimum depth: 506.670333 meters looking forward 100.000000 meters along route # Maximum depth: 513.334354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.670333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.494853; longitude = -118.068041; captureRadius = 10; duration = 105; initialDepth = 456.670333; finalDepth = 463.584345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.6640209999999 # Actual altitude: 56.6640209999999 # Commanded vehicle depth:456.670333 # Seafloor depth:-513.334354 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.67; MB_Bottom_Detect_Filter_Max_Range = 226.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.893002 meters # Minimum depth: 500.810918 meters looking forward 100.000000 meters along route # Maximum depth: 502.656985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 450.810918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.495168; longitude = -118.066965; captureRadius = 10; duration = 105; initialDepth = 450.810918; finalDepth = 456.670333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.6640209999999 # Actual altitude: 56.6640209999999 # Commanded vehicle depth:450.810918 # Seafloor depth:-502.656985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.67; MB_Bottom_Detect_Filter_Max_Range = 226.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.892635 meters # Minimum depth: 499.173908 meters looking forward 100.000000 meters along route # Maximum depth: 499.625166 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 449.173908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.495483; longitude = -118.065888; captureRadius = 10; duration = 105; initialDepth = 449.173908; finalDepth = 450.810918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.846067 # Actual altitude: 51.846067 # Commanded vehicle depth:449.173908 # Seafloor depth:-499.625166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.38; 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 = 207.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.976105 meters # Minimum depth: 494.798788 meters looking forward 100.000000 meters along route # Maximum depth: 499.233751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 444.798788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.495797; longitude = -118.064812; captureRadius = 10; duration = 105; initialDepth = 444.798788; finalDepth = 449.173908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.434963 # Actual altitude: 54.434963 # Commanded vehicle depth:444.798788 # Seafloor depth:-499.233751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.77; MB_Bottom_Detect_Filter_Max_Range = 217.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.808064 meters # Minimum depth: 493.007437 meters looking forward 100.000000 meters along route # Maximum depth: 494.795953 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.007437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.496112; longitude = -118.063735; captureRadius = 10; duration = 105; initialDepth = 443.007437; finalDepth = 444.798788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.434963 # Actual altitude: 54.434963 # Commanded vehicle depth:443.007437 # Seafloor depth:-494.795953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.77; MB_Bottom_Detect_Filter_Max_Range = 217.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.891535 meters # Minimum depth: 492.521100 meters looking forward 100.000000 meters along route # Maximum depth: 492.650261 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.521100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.496427; longitude = -118.062660; captureRadius = 10; duration = 105; initialDepth = 442.521100; finalDepth = 443.007437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.788516 # Actual altitude: 51.788516 # Commanded vehicle depth:442.5211 # Seafloor depth:-492.650261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.15; 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 = 207.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 121.085002 meters # Minimum depth: 486.696770 meters looking forward 100.000000 meters along route # Maximum depth: 492.488258 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.696770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.496741; longitude = -118.061584; captureRadius = 10; duration = 121; initialDepth = 436.696770; finalDepth = 442.521100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.791488 # Actual altitude: 55.791488 # Commanded vehicle depth:436.69677 # Seafloor depth:-492.488258 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.32; MB_Bottom_Detect_Filter_Max_Range = 223.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 43.552468 meters # Minimum depth: 484.458153 meters looking forward 100.000000 meters along route # Maximum depth: 486.696770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 434.458153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.497101; longitude = -118.060353; captureRadius = 10; duration = 43; # abortOnTimeout = True; initialDepth = 434.458153; finalDepth = 436.696770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.791488 # Actual altitude: 55.791488 # Commanded vehicle depth:434.458153 # Seafloor depth:-484.458153 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.32; MB_Bottom_Detect_Filter_Max_Range = 223.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 106.447532 meters # Minimum depth: 487.615880 meters looking forward 100.000000 meters along route # Maximum depth: 488.818361 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.615880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.497472; longitude = -118.060508; captureRadius = 10; duration = 106; initialDepth = 437.615880; finalDepth = 434.458153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.25429 # Actual altitude: 50.25429 # Commanded vehicle depth:437.61588 # Seafloor depth:-487.870170 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.02; 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 = 201.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 15.809674 meters # Minimum depth: 486.852898 meters looking forward 100.000000 meters along route # Maximum depth: 488.818361 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.852898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.498379; longitude = -118.060885; captureRadius = 10; duration = 15; # abortOnTimeout = True; initialDepth = 436.852898; finalDepth = 437.615880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.25429 # Actual altitude: 50.25429 # Commanded vehicle depth:436.852898 # Seafloor depth:-486.852898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.02; 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 = 201.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 105.889829 meters # Minimum depth: 487.576073 meters looking forward 100.000000 meters along route # Maximum depth: 488.254318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.576073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.498332; longitude = -118.061046; captureRadius = 10; duration = 105; initialDepth = 437.576073; finalDepth = 436.852898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:437.576073 # Seafloor depth:-487.576073 # 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 15 # Segment length 105.890197 meters # Minimum depth: 488.724046 meters looking forward 100.000000 meters along route # Maximum depth: 489.019155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 438.724046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.498017; longitude = -118.062122; captureRadius = 10; duration = 105; initialDepth = 438.724046; finalDepth = 437.576073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.02484 # Actual altitude: 50.02484 # Commanded vehicle depth:438.724046 # Seafloor depth:-488.748886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.10; 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 = 200.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 105.890563 meters # Minimum depth: 489.111245 meters looking forward 100.000000 meters along route # Maximum depth: 490.594360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 439.111245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.497702; longitude = -118.063198; captureRadius = 10; duration = 105; initialDepth = 439.111245; finalDepth = 438.724046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.02484 # Actual altitude: 50.02484 # Commanded vehicle depth:439.111245 # Seafloor depth:-489.111245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.10; 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 = 200.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 105.890930 meters # Minimum depth: 493.551846 meters looking forward 100.000000 meters along route # Maximum depth: 498.228077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.551846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.497388; longitude = -118.064274; captureRadius = 10; duration = 105; initialDepth = 443.551846; finalDepth = 439.111245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:443.551846 # Seafloor depth:-493.551846 # 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 15 # Segment length 105.891297 meters # Minimum depth: 497.000356 meters looking forward 100.000000 meters along route # Maximum depth: 497.886459 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 447.000356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.497073; longitude = -118.065350; captureRadius = 10; duration = 105; initialDepth = 447.000356; finalDepth = 443.551846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.886103 # Actual altitude: 50.886103 # Commanded vehicle depth:447.000356 # Seafloor depth:-497.886459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.54; 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 = 203.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 105.891664 meters # Minimum depth: 496.438056 meters looking forward 100.000000 meters along route # Maximum depth: 498.041030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 446.438056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.496758; longitude = -118.066426; captureRadius = 10; duration = 105; initialDepth = 446.438056; finalDepth = 447.000356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.886103 # Actual altitude: 50.886103 # Commanded vehicle depth:446.438056 # Seafloor depth:-496.438056 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.54; 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 = 203.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 111.382518 meters # Minimum depth: 499.817037 meters looking forward 100.000000 meters along route # Maximum depth: 512.155417 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 449.817037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.496443; longitude = -118.067503; captureRadius = 10; duration = 111; initialDepth = 449.817037; finalDepth = 446.438056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:449.817037 # Seafloor depth:-499.817037 # 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 15 # Segment length 100.401910 meters # Minimum depth: 512.201344 meters looking forward 100.000000 meters along route # Maximum depth: 512.588253 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.201344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.496112; longitude = -118.068635; captureRadius = 10; duration = 100; initialDepth = 462.201344; finalDepth = 449.817037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:462.201344 # Seafloor depth:-512.201344 # 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 15 # Segment length 105.892765 meters # Minimum depth: 518.941965 meters looking forward 100.000000 meters along route # Maximum depth: 534.213437 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 468.941965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.495814; longitude = -118.069655; captureRadius = 10; duration = 105; initialDepth = 468.941965; finalDepth = 462.201344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:468.941965 # Seafloor depth:-518.941965 # 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 15 # Segment length 105.893132 meters # Minimum depth: 534.007620 meters looking forward 100.000000 meters along route # Maximum depth: 534.812341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.007620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.495499; longitude = -118.070731; captureRadius = 10; duration = 105; initialDepth = 484.007620; finalDepth = 468.941965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.804721 # Actual altitude: 50.804721 # Commanded vehicle depth:484.00762 # Seafloor depth:-534.812341 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.22; 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 = 203.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 105.893499 meters # Minimum depth: 532.050732 meters looking forward 100.000000 meters along route # Maximum depth: 533.800647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.050732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.495184; longitude = -118.071807; captureRadius = 10; duration = 105; initialDepth = 482.050732; finalDepth = 484.007620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.749915 # Actual altitude: 51.749915 # Commanded vehicle depth:482.050732 # Seafloor depth:-533.800647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.00; 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 = 207.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 105.893865 meters # Minimum depth: 529.667363 meters looking forward 100.000000 meters along route # Maximum depth: 530.692258 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.667363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.494870; longitude = -118.072883; captureRadius = 10; duration = 105; initialDepth = 479.667363; finalDepth = 482.050732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.749915 # Actual altitude: 51.749915 # Commanded vehicle depth:479.667363 # Seafloor depth:-530.692258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.00; 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 = 207.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 105.894233 meters # Minimum depth: 527.868991 meters looking forward 100.000000 meters along route # Maximum depth: 529.374561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 477.868991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.494555; longitude = -118.073960; captureRadius = 10; duration = 105; initialDepth = 477.868991; finalDepth = 479.667363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5055699999999 # Actual altitude: 51.5055699999999 # Commanded vehicle depth:477.868991 # Seafloor depth:-529.374561 # 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 15 # Segment length 105.894600 meters # Minimum depth: 506.171854 meters looking forward 100.000000 meters along route # Maximum depth: 517.867883 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.171854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.494240; longitude = -118.075036; captureRadius = 10; duration = 105; initialDepth = 456.171854; finalDepth = 477.868991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.696029 # Actual altitude: 61.696029 # Commanded vehicle depth:456.171854 # Seafloor depth:-517.867883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.68; MB_Bottom_Detect_Filter_Max_Range = 246.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 185.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 105.894967 meters # Minimum depth: 507.715430 meters looking forward 100.000000 meters along route # Maximum depth: 507.834748 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.715430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493926; longitude = -118.076112; captureRadius = 10; duration = 105; initialDepth = 457.715430; finalDepth = 456.171854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.696029 # Actual altitude: 61.696029 # Commanded vehicle depth:457.71543 # Seafloor depth:-507.715430 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.68; MB_Bottom_Detect_Filter_Max_Range = 246.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 185.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 105.895335 meters # Minimum depth: 508.871342 meters looking forward 100.000000 meters along route # Maximum depth: 509.586580 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.871342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493611; longitude = -118.077188; captureRadius = 10; duration = 105; initialDepth = 458.871342; finalDepth = 457.715430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:458.871342 # Seafloor depth:-508.871342 # 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 15 # Segment length 105.895701 meters # Minimum depth: 509.639418 meters looking forward 100.000000 meters along route # Maximum depth: 509.955222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.639418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493296; longitude = -118.078264; captureRadius = 10; duration = 105; initialDepth = 459.639418; finalDepth = 458.871342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:459.639418 # Seafloor depth:-509.639418 # 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 15 # Segment length 105.896069 meters # Minimum depth: 510.414961 meters looking forward 100.000000 meters along route # Maximum depth: 511.077882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 460.414961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492981; longitude = -118.079340; captureRadius = 10; duration = 105; initialDepth = 460.414961; finalDepth = 459.639418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:460.414961 # Seafloor depth:-510.414961 # 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 15 # Segment length 107.981448 meters # Minimum depth: 511.000716 meters looking forward 100.000000 meters along route # Maximum depth: 511.168296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 461.000716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492667; longitude = -118.080417; captureRadius = 10; duration = 107; initialDepth = 461.000716; finalDepth = 460.414961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.16758 # Actual altitude: 50.16758 # Commanded vehicle depth:461.000716 # Seafloor depth:-511.168296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.67; 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 = 200.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 103.811791 meters # Minimum depth: 510.069788 meters looking forward 100.000000 meters along route # Maximum depth: 510.988471 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 460.069788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492346; longitude = -118.081514; captureRadius = 10; duration = 103; initialDepth = 460.069788; finalDepth = 461.000716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.918683 # Actual altitude: 50.918683 # Commanded vehicle depth:460.069788 # Seafloor depth:-510.988471 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 105.897170 meters # Minimum depth: 508.558954 meters looking forward 100.000000 meters along route # Maximum depth: 508.925529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.558954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492037; longitude = -118.082569; captureRadius = 10; duration = 105; initialDepth = 458.558954; finalDepth = 460.069788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.918683 # Actual altitude: 50.918683 # Commanded vehicle depth:458.558954 # Seafloor depth:-508.925529 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 105.897538 meters # Minimum depth: 508.088330 meters looking forward 100.000000 meters along route # Maximum depth: 508.517491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.088330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491722; longitude = -118.083645; captureRadius = 10; duration = 105; initialDepth = 458.088330; finalDepth = 458.558954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.429161 # Actual altitude: 50.429161 # Commanded vehicle depth:458.08833 # Seafloor depth:-508.517491 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.72; 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 = 201.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 105.897905 meters # Minimum depth: 507.625572 meters looking forward 100.000000 meters along route # Maximum depth: 507.674374 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.625572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491408; longitude = -118.084721; captureRadius = 10; duration = 105; initialDepth = 457.625572; finalDepth = 458.088330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.429161 # Actual altitude: 50.429161 # Commanded vehicle depth:457.625572 # Seafloor depth:-507.674374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.72; 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 = 201.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 105.898272 meters # Minimum depth: 508.090981 meters looking forward 100.000000 meters along route # Maximum depth: 508.474235 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.090981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491093; longitude = -118.085797; captureRadius = 10; duration = 105; initialDepth = 458.090981; finalDepth = 457.625572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.048802 # Actual altitude: 50.048802 # Commanded vehicle depth:458.090981 # Seafloor depth:-508.090981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 105.898640 meters # Minimum depth: 508.087998 meters looking forward 100.000000 meters along route # Maximum depth: 508.607539 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.087998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.490778; longitude = -118.086874; captureRadius = 10; duration = 105; initialDepth = 458.087998; finalDepth = 458.090981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5195409999999 # Actual altitude: 50.5195409999999 # Commanded vehicle depth:458.087998 # Seafloor depth:-508.607539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 105.899007 meters # Minimum depth: 508.252707 meters looking forward 100.000000 meters along route # Maximum depth: 508.735543 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.252707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.490464; longitude = -118.087950; captureRadius = 10; duration = 105; initialDepth = 458.252707; finalDepth = 458.087998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5195409999999 # Actual altitude: 50.5195409999999 # Commanded vehicle depth:458.252707 # Seafloor depth:-508.735543 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 105.899374 meters # Minimum depth: 508.014249 meters looking forward 100.000000 meters along route # Maximum depth: 508.124265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.014249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.490149; longitude = -118.089026; captureRadius = 10; duration = 105; initialDepth = 458.014249; finalDepth = 458.252707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.482836 # Actual altitude: 50.482836 # Commanded vehicle depth:458.014249 # Seafloor depth:-508.124265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 105.899742 meters # Minimum depth: 506.691075 meters looking forward 100.000000 meters along route # Maximum depth: 507.488555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.691075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.489834; longitude = -118.090102; captureRadius = 10; duration = 105; initialDepth = 456.691075; finalDepth = 458.014249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.79748 # Actual altitude: 50.79748 # Commanded vehicle depth:456.691075 # Seafloor depth:-507.488555 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.19; 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 = 203.19; 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 15 # Segment length 105.900110 meters # Minimum depth: 501.059637 meters looking forward 100.000000 meters along route # Maximum depth: 505.681331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 451.059637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.489519; longitude = -118.091178; captureRadius = 10; duration = 105; initialDepth = 451.059637; finalDepth = 456.691075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.621694 # Actual altitude: 54.621694 # Commanded vehicle depth:451.059637 # Seafloor depth:-505.681331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.85; MB_Bottom_Detect_Filter_Max_Range = 218.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 105.900477 meters # Minimum depth: 450.338402 meters looking forward 100.000000 meters along route # Maximum depth: 480.291997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 400.338402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.489205; longitude = -118.092254; captureRadius = 10; duration = 105; initialDepth = 400.338402; finalDepth = 451.059637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.953595 # Actual altitude: 79.953595 # Commanded vehicle depth:400.338402 # Seafloor depth:-480.291997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 319.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.98; MB_Bottom_Detect_Filter_Max_Range = 319.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 105.900844 meters # Minimum depth: 443.794129 meters looking forward 100.000000 meters along route # Maximum depth: 443.999128 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.794129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.488890; longitude = -118.093331; captureRadius = 10; duration = 105; initialDepth = 393.794129; finalDepth = 400.338402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.953595 # Actual altitude: 79.953595 # Commanded vehicle depth:393.794129 # Seafloor depth:-443.999128 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 319.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.98; MB_Bottom_Detect_Filter_Max_Range = 319.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 105.901212 meters # Minimum depth: 443.989558 meters looking forward 100.000000 meters along route # Maximum depth: 444.390050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.989558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.488575; longitude = -118.094407; captureRadius = 10; duration = 105; initialDepth = 393.989558; finalDepth = 393.794129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.204999 # Actual altitude: 50.204999 # Commanded vehicle depth:393.989558 # Seafloor depth:-443.989558 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.82; 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 = 200.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 105.901579 meters # Minimum depth: 444.616484 meters looking forward 100.000000 meters along route # Maximum depth: 445.078497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.616484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.488260; longitude = -118.095483; captureRadius = 10; duration = 105; initialDepth = 394.616484; finalDepth = 393.989558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:394.616484 # Seafloor depth:-444.616484 # 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 15 # Segment length 105.901947 meters # Minimum depth: 445.324502 meters looking forward 100.000000 meters along route # Maximum depth: 445.973930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.324502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.487946; longitude = -118.096559; captureRadius = 10; duration = 105; initialDepth = 395.324502; finalDepth = 394.616484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:395.324502 # Seafloor depth:-445.324502 # 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 15 # Segment length 125.249530 meters # Minimum depth: 446.325069 meters looking forward 100.000000 meters along route # Maximum depth: 447.332838 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.325069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.487631; longitude = -118.097635; captureRadius = 10; duration = 125; initialDepth = 396.325069; finalDepth = 395.324502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:396.325069 # Seafloor depth:-446.325069 # 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 14 # Segment length 28.676475 meters # Minimum depth: 447.332838 meters looking forward 100.000000 meters along route # Maximum depth: 447.660339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.332838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.487259; longitude = -118.098908; captureRadius = 10; duration = 28; # abortOnTimeout = True; initialDepth = 397.332838; finalDepth = 396.325069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.327501 # Actual altitude: 50.327501 # Commanded vehicle depth:397.332838 # Seafloor depth:-447.660339 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 121.323525 meters # Minimum depth: 444.804977 meters looking forward 100.000000 meters along route # Maximum depth: 446.845425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.804977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.487503; longitude = -118.099010; captureRadius = 10; duration = 121; initialDepth = 394.804977; finalDepth = 397.332838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.040448 # Actual altitude: 52.040448 # Commanded vehicle depth:394.804977 # Seafloor depth:-446.845425 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 18.779795 meters # Minimum depth: 443.229611 meters looking forward 100.000000 meters along route # Maximum depth: 444.927082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.229611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.488536; longitude = -118.099440; captureRadius = 10; duration = 18; # abortOnTimeout = True; initialDepth = 393.229611; finalDepth = 394.804977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.040448 # Actual altitude: 52.040448 # Commanded vehicle depth:393.229611 # Seafloor depth:-444.067352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.900978 meters # Minimum depth: 442.855715 meters looking forward 100.000000 meters along route # Maximum depth: 443.201184 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.855715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.488592; longitude = -118.099249; captureRadius = 10; duration = 105; initialDepth = 392.855715; finalDepth = 393.229611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8377410000001 # Actual altitude: 50.8377410000001 # Commanded vehicle depth:392.855715 # Seafloor depth:-443.201184 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.35; 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 = 203.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.900609 meters # Minimum depth: 441.995793 meters looking forward 100.000000 meters along route # Maximum depth: 442.368821 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 391.995793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.488906; longitude = -118.098173; captureRadius = 10; duration = 105; initialDepth = 391.995793; finalDepth = 392.855715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.373028 # Actual altitude: 50.373028 # Commanded vehicle depth:391.995793 # Seafloor depth:-442.368821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.49; 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 = 201.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.900242 meters # Minimum depth: 441.383261 meters looking forward 100.000000 meters along route # Maximum depth: 441.912376 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 391.383261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.489221; longitude = -118.097097; captureRadius = 10; duration = 105; initialDepth = 391.383261; finalDepth = 391.995793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.529115 # Actual altitude: 50.529115 # Commanded vehicle depth:391.383261 # Seafloor depth:-441.912376 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.899875 meters # Minimum depth: 440.551297 meters looking forward 100.000000 meters along route # Maximum depth: 441.059320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.551297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.489536; longitude = -118.096021; captureRadius = 10; duration = 105; initialDepth = 390.551297; finalDepth = 391.383261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.529115 # Actual altitude: 50.529115 # Commanded vehicle depth:390.551297 # Seafloor depth:-441.059320 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.899507 meters # Minimum depth: 439.762146 meters looking forward 100.000000 meters along route # Maximum depth: 440.050744 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.762146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.489851; longitude = -118.094945; captureRadius = 10; duration = 105; initialDepth = 389.762146; finalDepth = 390.551297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.508023 # Actual altitude: 50.508023 # Commanded vehicle depth:389.762146 # Seafloor depth:-440.050744 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.03; 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 = 202.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.899139 meters # Minimum depth: 439.515682 meters looking forward 100.000000 meters along route # Maximum depth: 440.993837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.515682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.490165; longitude = -118.093869; captureRadius = 10; duration = 105; initialDepth = 389.515682; finalDepth = 389.762146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.288598 # Actual altitude: 50.288598 # Commanded vehicle depth:389.515682 # Seafloor depth:-439.515682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.15; 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 = 201.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.898772 meters # Minimum depth: 457.136188 meters looking forward 100.000000 meters along route # Maximum depth: 496.437741 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 407.136188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.490480; longitude = -118.092792; captureRadius = 10; duration = 105; initialDepth = 407.136188; finalDepth = 389.515682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:407.136188 # Seafloor depth:-457.136188 # 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 13 # Segment length 105.898405 meters # Minimum depth: 500.991281 meters looking forward 100.000000 meters along route # Maximum depth: 504.450566 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 450.991281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.490795; longitude = -118.091716; captureRadius = 10; duration = 105; initialDepth = 450.991281; finalDepth = 407.136188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:450.991281 # Seafloor depth:-500.991281 # 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 13 # Segment length 105.898037 meters # Minimum depth: 506.137239 meters looking forward 100.000000 meters along route # Maximum depth: 506.602913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.137239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491110; longitude = -118.090640; captureRadius = 10; duration = 105; initialDepth = 456.137239; finalDepth = 450.991281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:456.137239 # Seafloor depth:-506.137239 # 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 13 # Segment length 105.897669 meters # Minimum depth: 506.857920 meters looking forward 100.000000 meters along route # Maximum depth: 507.031409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.857920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491424; longitude = -118.089564; captureRadius = 10; duration = 105; initialDepth = 456.857920; finalDepth = 456.137239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:456.85792 # Seafloor depth:-506.857920 # 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 13 # Segment length 105.897302 meters # Minimum depth: 507.497206 meters looking forward 100.000000 meters along route # Maximum depth: 508.358010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.497206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491739; longitude = -118.088488; captureRadius = 10; duration = 105; initialDepth = 457.497206; finalDepth = 456.857920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:457.497206 # Seafloor depth:-507.497206 # 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 13 # Segment length 105.896935 meters # Minimum depth: 507.471884 meters looking forward 100.000000 meters along route # Maximum depth: 508.567938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.471884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492054; longitude = -118.087412; captureRadius = 10; duration = 105; initialDepth = 457.471884; finalDepth = 457.497206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:457.471884 # Seafloor depth:-507.471884 # 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 13 # Segment length 105.896567 meters # Minimum depth: 508.659237 meters looking forward 100.000000 meters along route # Maximum depth: 508.798660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.659237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492368; longitude = -118.086336; captureRadius = 10; duration = 105; initialDepth = 458.659237; finalDepth = 457.471884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:458.659237 # Seafloor depth:-508.659237 # 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 13 # Segment length 105.896200 meters # Minimum depth: 509.367308 meters looking forward 100.000000 meters along route # Maximum depth: 510.013234 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.367308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492683; longitude = -118.085259; captureRadius = 10; duration = 105; initialDepth = 459.367308; finalDepth = 458.659237; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:459.367308 # Seafloor depth:-509.367308 # 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 13 # Segment length 105.895833 meters # Minimum depth: 509.904906 meters looking forward 100.000000 meters along route # Maximum depth: 510.622944 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.904906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492998; longitude = -118.084183; captureRadius = 10; duration = 105; initialDepth = 459.904906; finalDepth = 459.367308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:459.904906 # Seafloor depth:-509.904906 # 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 13 # Segment length 105.895466 meters # Minimum depth: 511.657423 meters looking forward 100.000000 meters along route # Maximum depth: 512.857194 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 461.657423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493313; longitude = -118.083107; captureRadius = 10; duration = 105; initialDepth = 461.657423; finalDepth = 459.904906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:461.657423 # Seafloor depth:-511.657423 # 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 13 # Segment length 105.895098 meters # Minimum depth: 513.239530 meters looking forward 100.000000 meters along route # Maximum depth: 513.242627 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 463.239530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493627; longitude = -118.082031; captureRadius = 10; duration = 105; initialDepth = 463.239530; finalDepth = 461.657423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.003097 # Actual altitude: 50.003097 # Commanded vehicle depth:463.23953 # Seafloor depth:-513.242627 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.01; 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 = 200.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.894731 meters # Minimum depth: 512.771061 meters looking forward 100.000000 meters along route # Maximum depth: 513.307807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.771061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493942; longitude = -118.080955; captureRadius = 10; duration = 105; initialDepth = 462.771061; finalDepth = 463.239530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.536746 # Actual altitude: 50.536746 # Commanded vehicle depth:462.771061 # Seafloor depth:-513.307807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.894363 meters # Minimum depth: 511.382817 meters looking forward 100.000000 meters along route # Maximum depth: 512.108298 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 461.382817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.494257; longitude = -118.079879; captureRadius = 10; duration = 105; initialDepth = 461.382817; finalDepth = 462.771061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.725481 # Actual altitude: 50.725481 # Commanded vehicle depth:461.382817 # Seafloor depth:-512.108298 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.893997 meters # Minimum depth: 509.399326 meters looking forward 100.000000 meters along route # Maximum depth: 511.023563 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.399326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.494572; longitude = -118.078802; captureRadius = 10; duration = 105; initialDepth = 459.399326; finalDepth = 461.382817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6242370000001 # Actual altitude: 51.6242370000001 # Commanded vehicle depth:459.399326 # Seafloor depth:-511.023563 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 206.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.893629 meters # Minimum depth: 506.237827 meters looking forward 100.000000 meters along route # Maximum depth: 508.107600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.237827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.494886; longitude = -118.077726; captureRadius = 10; duration = 105; initialDepth = 456.237827; finalDepth = 459.399326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.869773 # Actual altitude: 51.869773 # Commanded vehicle depth:456.237827 # Seafloor depth:-508.107600 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.893262 meters # Minimum depth: 499.216966 meters looking forward 100.000000 meters along route # Maximum depth: 503.365963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 449.216966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.495201; longitude = -118.076650; captureRadius = 10; duration = 105; initialDepth = 449.216966; finalDepth = 456.237827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.148997 # Actual altitude: 54.148997 # Commanded vehicle depth:449.216966 # Seafloor depth:-503.365963 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.60; 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 = 216.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.892895 meters # Minimum depth: 506.746901 meters looking forward 100.000000 meters along route # Maximum depth: 523.780722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.746901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.495516; longitude = -118.075574; captureRadius = 10; duration = 105; initialDepth = 456.746901; finalDepth = 449.216966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.148997 # Actual altitude: 54.148997 # Commanded vehicle depth:456.746901 # Seafloor depth:-506.746901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.60; 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 = 216.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.892528 meters # Minimum depth: 526.442811 meters looking forward 100.000000 meters along route # Maximum depth: 529.369321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.442811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.495830; longitude = -118.074498; captureRadius = 10; duration = 105; initialDepth = 476.442811; finalDepth = 456.746901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:476.442811 # Seafloor depth:-526.442811 # 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 13 # Segment length 105.892161 meters # Minimum depth: 529.547179 meters looking forward 100.000000 meters along route # Maximum depth: 529.732785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.547179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.496145; longitude = -118.073422; captureRadius = 10; duration = 105; initialDepth = 479.547179; finalDepth = 476.442811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:479.547179 # Seafloor depth:-529.547179 # 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 13 # Segment length 105.891794 meters # Minimum depth: 530.080528 meters looking forward 100.000000 meters along route # Maximum depth: 530.761612 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.080528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.496460; longitude = -118.072345; captureRadius = 10; duration = 105; initialDepth = 480.080528; finalDepth = 479.547179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:480.080528 # Seafloor depth:-530.080528 # 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 13 # Segment length 105.891427 meters # Minimum depth: 531.389267 meters looking forward 100.000000 meters along route # Maximum depth: 532.536702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 481.389267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.496775; longitude = -118.071269; captureRadius = 10; duration = 105; initialDepth = 481.389267; finalDepth = 480.080528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:481.389267 # Seafloor depth:-531.389267 # 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 13 # Segment length 105.891060 meters # Minimum depth: 512.336713 meters looking forward 100.000000 meters along route # Maximum depth: 524.419304 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.336713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.497089; longitude = -118.070193; captureRadius = 10; duration = 105; initialDepth = 462.336713; finalDepth = 481.389267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.082591 # Actual altitude: 62.082591 # Commanded vehicle depth:462.336713 # Seafloor depth:-524.419304 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.83; MB_Bottom_Detect_Filter_Max_Range = 248.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 108.494008 meters # Minimum depth: 498.963998 meters looking forward 100.000000 meters along route # Maximum depth: 511.103316 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 448.963998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.497404; longitude = -118.069117; captureRadius = 10; duration = 108; initialDepth = 448.963998; finalDepth = 462.336713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.139318 # Actual altitude: 62.139318 # Commanded vehicle depth:448.963998 # Seafloor depth:-511.103316 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.86; MB_Bottom_Detect_Filter_Max_Range = 248.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.287010 meters # Minimum depth: 495.741806 meters looking forward 100.000000 meters along route # Maximum depth: 498.790633 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.741806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.497727; longitude = -118.068014; captureRadius = 10; duration = 103; initialDepth = 445.741806; finalDepth = 448.963998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.139318 # Actual altitude: 62.139318 # Commanded vehicle depth:445.741806 # Seafloor depth:-498.790633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.86; MB_Bottom_Detect_Filter_Max_Range = 248.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.889959 meters # Minimum depth: 494.367055 meters looking forward 100.000000 meters along route # Maximum depth: 495.182339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 444.367055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.498034; longitude = -118.066965; captureRadius = 10; duration = 105; initialDepth = 444.367055; finalDepth = 445.741806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.048827 # Actual altitude: 53.048827 # Commanded vehicle depth:444.367055 # Seafloor depth:-494.367055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.889592 meters # Minimum depth: 495.884811 meters looking forward 100.000000 meters along route # Maximum depth: 497.071889 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.884811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.498348; longitude = -118.065888; captureRadius = 10; duration = 105; initialDepth = 445.884811; finalDepth = 444.367055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:445.884811 # Seafloor depth:-495.884811 # 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 13 # Segment length 105.889225 meters # Minimum depth: 488.688492 meters looking forward 100.000000 meters along route # Maximum depth: 493.444330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 438.688492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.498663; longitude = -118.064812; captureRadius = 10; duration = 105; initialDepth = 438.688492; finalDepth = 445.884811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.755838 # Actual altitude: 54.755838 # Commanded vehicle depth:438.688492 # Seafloor depth:-493.444330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.90; MB_Bottom_Detect_Filter_Max_Range = 219.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.158127 meters # Minimum depth: 486.044656 meters looking forward 100.000000 meters along route # Maximum depth: 487.170786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.044656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.498978; longitude = -118.063736; captureRadius = 10; duration = 122; initialDepth = 436.044656; finalDepth = 438.688492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.755838 # Actual altitude: 54.755838 # Commanded vehicle depth:436.044656 # Seafloor depth:-487.170786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.90; MB_Bottom_Detect_Filter_Max_Range = 219.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 106.043137 meters # Minimum depth: 485.198650 meters looking forward 100.000000 meters along route # Maximum depth: 485.915190 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 435.198650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.499341; longitude = -118.062495; captureRadius = 10; duration = 106; initialDepth = 435.198650; finalDepth = 436.044656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.12613 # Actual altitude: 51.12613 # Commanded vehicle depth:435.19865 # Seafloor depth:-485.915190 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.50; 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 = 204.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 47.076780 meters # Minimum depth: 484.495678 meters looking forward 100.000000 meters along route # Maximum depth: 485.198650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 434.495678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.499656; longitude = -118.061417; captureRadius = 10; duration = 47; # abortOnTimeout = True; initialDepth = 434.495678; finalDepth = 435.198650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.71654 # Actual altitude: 50.71654 # Commanded vehicle depth:434.495678 # Seafloor depth:-485.072289 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 102.923220 meters # Minimum depth: 483.486299 meters looking forward 100.000000 meters along route # Maximum depth: 484.143766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 433.486299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.500057; longitude = -118.061584; captureRadius = 10; duration = 102; initialDepth = 433.486299; finalDepth = 434.495678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6574670000001 # Actual altitude: 50.6574670000001 # Commanded vehicle depth:433.486299 # Seafloor depth:-484.143766 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.63; 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 = 202.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 17.036557 meters # Minimum depth: 483.187386 meters looking forward 100.000000 meters along route # Maximum depth: 483.486299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 433.187386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.500933; longitude = -118.061949; captureRadius = 10; duration = 17; # abortOnTimeout = True; initialDepth = 433.187386; finalDepth = 433.486299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6574670000001 # Actual altitude: 50.6574670000001 # Commanded vehicle depth:433.187386 # Seafloor depth:-483.187386 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.63; 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 = 202.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.887153 meters # Minimum depth: 483.022523 meters looking forward 100.000000 meters along route # Maximum depth: 483.547365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 433.022523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.500883; longitude = -118.062122; captureRadius = 10; duration = 105; initialDepth = 433.022523; finalDepth = 433.187386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:433.022523 # Seafloor depth:-483.022523 # 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 11 # Segment length 105.887520 meters # Minimum depth: 483.759155 meters looking forward 100.000000 meters along route # Maximum depth: 484.265991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 433.759155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.500568; longitude = -118.063198; captureRadius = 10; duration = 105; initialDepth = 433.759155; finalDepth = 433.022523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:433.759155 # Seafloor depth:-483.759155 # 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 11 # Segment length 105.887887 meters # Minimum depth: 484.886415 meters looking forward 100.000000 meters along route # Maximum depth: 486.579842 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 434.886415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.500253; longitude = -118.064274; captureRadius = 10; duration = 105; initialDepth = 434.886415; finalDepth = 433.759155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:434.886415 # Seafloor depth:-484.886415 # 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 11 # Segment length 105.888254 meters # Minimum depth: 490.259359 meters looking forward 100.000000 meters along route # Maximum depth: 493.661675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 440.259359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.499938; longitude = -118.065350; captureRadius = 10; duration = 105; initialDepth = 440.259359; finalDepth = 434.886415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:440.259359 # Seafloor depth:-490.259359 # 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 11 # Segment length 105.888621 meters # Minimum depth: 492.778293 meters looking forward 100.000000 meters along route # Maximum depth: 494.016687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.778293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.499624; longitude = -118.066426; captureRadius = 10; duration = 105; initialDepth = 442.778293; finalDepth = 440.259359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.238394 # Actual altitude: 51.238394 # Commanded vehicle depth:442.778293 # Seafloor depth:-494.016687 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.95; 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 = 204.95; 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 11 # Segment length 105.888988 meters # Minimum depth: 492.577022 meters looking forward 100.000000 meters along route # Maximum depth: 494.035755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.577022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.499309; longitude = -118.067503; captureRadius = 10; duration = 105; initialDepth = 442.577022; finalDepth = 442.778293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.238394 # Actual altitude: 51.238394 # Commanded vehicle depth:442.577022 # Seafloor depth:-492.577022 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.95; 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 = 204.95; 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 11 # Segment length 105.889355 meters # Minimum depth: 498.290180 meters looking forward 100.000000 meters along route # Maximum depth: 507.372212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 448.290180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.498994; longitude = -118.068579; captureRadius = 10; duration = 105; initialDepth = 448.290180; finalDepth = 442.577022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:448.29018 # Seafloor depth:-498.290180 # 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 11 # Segment length 105.889721 meters # Minimum depth: 508.955875 meters looking forward 100.000000 meters along route # Maximum depth: 514.049191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.955875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.498680; longitude = -118.069655; captureRadius = 10; duration = 105; initialDepth = 458.955875; finalDepth = 448.290180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:458.955875 # Seafloor depth:-508.955875 # 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 11 # Segment length 105.890089 meters # Minimum depth: 526.257751 meters looking forward 100.000000 meters along route # Maximum depth: 528.657289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.257751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.498365; longitude = -118.070731; captureRadius = 10; duration = 105; initialDepth = 476.257751; finalDepth = 458.955875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:476.257751 # Seafloor depth:-526.257751 # 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 11 # Segment length 108.859435 meters # Minimum depth: 528.718319 meters looking forward 100.000000 meters along route # Maximum depth: 529.153638 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.718319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.498050; longitude = -118.071807; captureRadius = 10; duration = 108; initialDepth = 478.718319; finalDepth = 476.257751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.350772 # Actual altitude: 50.350772 # Commanded vehicle depth:478.718319 # Seafloor depth:-529.069091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.40; 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 = 201.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 102.921844 meters # Minimum depth: 528.227772 meters looking forward 100.000000 meters along route # Maximum depth: 528.689997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.227772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.497727; longitude = -118.072914; captureRadius = 10; duration = 102; initialDepth = 478.227772; finalDepth = 478.718319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.462225 # Actual altitude: 50.462225 # Commanded vehicle depth:478.227772 # Seafloor depth:-528.689997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.891190 meters # Minimum depth: 526.781757 meters looking forward 100.000000 meters along route # Maximum depth: 528.061429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.781757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.497421; longitude = -118.073960; captureRadius = 10; duration = 105; initialDepth = 476.781757; finalDepth = 478.227772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.279672 # Actual altitude: 51.279672 # Commanded vehicle depth:476.781757 # Seafloor depth:-528.061429 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.891557 meters # Minimum depth: 520.992617 meters looking forward 100.000000 meters along route # Maximum depth: 525.814470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 470.992617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.497106; longitude = -118.075036; captureRadius = 10; duration = 105; initialDepth = 470.992617; finalDepth = 476.781757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.821853 # Actual altitude: 54.821853 # Commanded vehicle depth:470.992617 # Seafloor depth:-525.814470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.29; 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 = 219.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.891925 meters # Minimum depth: 489.272974 meters looking forward 100.000000 meters along route # Maximum depth: 502.534440 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 439.272974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.496791; longitude = -118.076112; captureRadius = 10; duration = 105; initialDepth = 439.272974; finalDepth = 470.992617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.261466 # Actual altitude: 63.261466 # Commanded vehicle depth:439.272974 # Seafloor depth:-502.534440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.30; MB_Bottom_Detect_Filter_Max_Range = 253.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 189.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.892291 meters # Minimum depth: 493.632371 meters looking forward 100.000000 meters along route # Maximum depth: 495.369853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.632371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.496476; longitude = -118.077188; captureRadius = 10; duration = 105; initialDepth = 443.632371; finalDepth = 439.272974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.261466 # Actual altitude: 63.261466 # Commanded vehicle depth:443.632371 # Seafloor depth:-493.632371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.30; MB_Bottom_Detect_Filter_Max_Range = 253.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 189.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.892659 meters # Minimum depth: 496.681131 meters looking forward 100.000000 meters along route # Maximum depth: 498.891756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 446.681131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.496162; longitude = -118.078264; captureRadius = 10; duration = 105; initialDepth = 446.681131; finalDepth = 443.632371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:446.681131 # Seafloor depth:-496.681131 # 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 11 # Segment length 105.893026 meters # Minimum depth: 502.914145 meters looking forward 100.000000 meters along route # Maximum depth: 509.369587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 452.914145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.495847; longitude = -118.079340; captureRadius = 10; duration = 105; initialDepth = 452.914145; finalDepth = 446.681131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:452.914145 # Seafloor depth:-502.914145 # 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 11 # Segment length 105.893393 meters # Minimum depth: 509.824817 meters looking forward 100.000000 meters along route # Maximum depth: 511.687739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.824817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.495532; longitude = -118.080417; captureRadius = 10; duration = 105; initialDepth = 459.824817; finalDepth = 452.914145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:459.824817 # Seafloor depth:-509.824817 # 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 11 # Segment length 105.893760 meters # Minimum depth: 512.229624 meters looking forward 100.000000 meters along route # Maximum depth: 512.290641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.229624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.495218; longitude = -118.081493; captureRadius = 10; duration = 105; initialDepth = 462.229624; finalDepth = 459.824817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0610170000001 # Actual altitude: 50.0610170000001 # Commanded vehicle depth:462.229624 # Seafloor depth:-512.290641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.894128 meters # Minimum depth: 511.626548 meters looking forward 100.000000 meters along route # Maximum depth: 512.038422 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 461.626548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.494903; longitude = -118.082569; captureRadius = 10; duration = 105; initialDepth = 461.626548; finalDepth = 462.229624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.411874 # Actual altitude: 50.411874 # Commanded vehicle depth:461.626548 # Seafloor depth:-512.038422 # 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 = 20.16; 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 11 # Segment length 105.894495 meters # Minimum depth: 511.372399 meters looking forward 100.000000 meters along route # Maximum depth: 511.483413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 461.372399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.494588; longitude = -118.083645; captureRadius = 10; duration = 105; initialDepth = 461.372399; finalDepth = 461.626548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.411874 # Actual altitude: 50.411874 # Commanded vehicle depth:461.372399 # Seafloor depth:-511.438464 # 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 = 20.16; 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 11 # Segment length 105.894862 meters # Minimum depth: 510.326378 meters looking forward 100.000000 meters along route # Maximum depth: 511.193078 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 460.326378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.494273; longitude = -118.084721; captureRadius = 10; duration = 105; initialDepth = 460.326378; finalDepth = 461.372399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8667 # Actual altitude: 50.8667 # Commanded vehicle depth:460.326378 # Seafloor depth:-511.193078 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.47; 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 = 203.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.895230 meters # Minimum depth: 509.492147 meters looking forward 100.000000 meters along route # Maximum depth: 510.320481 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.492147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493959; longitude = -118.085797; captureRadius = 10; duration = 105; initialDepth = 459.492147; finalDepth = 460.326378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8667 # Actual altitude: 50.8667 # Commanded vehicle depth:459.492147 # Seafloor depth:-510.320481 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.47; 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 = 203.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.895597 meters # Minimum depth: 507.840289 meters looking forward 100.000000 meters along route # Maximum depth: 508.812771 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.840289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493644; longitude = -118.086874; captureRadius = 10; duration = 105; initialDepth = 457.840289; finalDepth = 459.492147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.972482 # Actual altitude: 50.972482 # Commanded vehicle depth:457.840289 # Seafloor depth:-508.812771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.895965 meters # Minimum depth: 507.126253 meters looking forward 100.000000 meters along route # Maximum depth: 507.483721 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.126253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493329; longitude = -118.087950; captureRadius = 10; duration = 105; initialDepth = 457.126253; finalDepth = 457.840289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.972482 # Actual altitude: 50.972482 # Commanded vehicle depth:457.126253 # Seafloor depth:-507.483721 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.896332 meters # Minimum depth: 506.191120 meters looking forward 100.000000 meters along route # Maximum depth: 506.770540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.191120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493014; longitude = -118.089026; captureRadius = 10; duration = 105; initialDepth = 456.191120; finalDepth = 457.126253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.57942 # Actual altitude: 50.57942 # Commanded vehicle depth:456.19112 # Seafloor depth:-506.770540 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.32; 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 = 202.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.896699 meters # Minimum depth: 504.292736 meters looking forward 100.000000 meters along route # Maximum depth: 505.339989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.292736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492700; longitude = -118.090102; captureRadius = 10; duration = 105; initialDepth = 454.292736; finalDepth = 456.191120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.047253 # Actual altitude: 51.047253 # Commanded vehicle depth:454.292736 # Seafloor depth:-505.339989 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.19; 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 = 204.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.897067 meters # Minimum depth: 495.920066 meters looking forward 100.000000 meters along route # Maximum depth: 502.124137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.920066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492385; longitude = -118.091178; captureRadius = 10; duration = 105; initialDepth = 445.920066; finalDepth = 454.292736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.204071 # Actual altitude: 56.204071 # Commanded vehicle depth:445.920066 # Seafloor depth:-502.124137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.48; MB_Bottom_Detect_Filter_Max_Range = 224.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.897435 meters # Minimum depth: 439.431447 meters looking forward 100.000000 meters along route # Maximum depth: 476.726223 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.431447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492070; longitude = -118.092254; captureRadius = 10; duration = 105; initialDepth = 389.431447; finalDepth = 445.920066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.294776 # Actual altitude: 87.294776 # Commanded vehicle depth:389.431447 # Seafloor depth:-476.726223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 349.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.92; MB_Bottom_Detect_Filter_Max_Range = 349.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.897802 meters # Minimum depth: 434.553092 meters looking forward 100.000000 meters along route # Maximum depth: 435.423567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.553092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491756; longitude = -118.093331; captureRadius = 10; duration = 105; initialDepth = 384.553092; finalDepth = 389.431447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.294776 # Actual altitude: 87.294776 # Commanded vehicle depth:384.553092 # Seafloor depth:-435.423567 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 349.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.92; MB_Bottom_Detect_Filter_Max_Range = 349.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.898169 meters # Minimum depth: 434.734246 meters looking forward 100.000000 meters along route # Maximum depth: 435.374960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.734246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491441; longitude = -118.094407; captureRadius = 10; duration = 105; initialDepth = 384.734246; finalDepth = 384.553092; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.870475 # Actual altitude: 50.870475 # Commanded vehicle depth:384.734246 # Seafloor depth:-434.734246 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.48; 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 = 203.48; 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 11 # Segment length 105.898537 meters # Minimum depth: 435.938156 meters looking forward 100.000000 meters along route # Maximum depth: 436.357086 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.938156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491126; longitude = -118.095483; captureRadius = 10; duration = 105; initialDepth = 385.938156; finalDepth = 384.734246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:385.938156 # Seafloor depth:-435.938156 # 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 11 # Segment length 105.898905 meters # Minimum depth: 436.874133 meters looking forward 100.000000 meters along route # Maximum depth: 437.099599 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.874133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.490811; longitude = -118.096559; captureRadius = 10; duration = 105; initialDepth = 386.874133; finalDepth = 385.938156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:386.874133 # Seafloor depth:-436.874133 # 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 11 # Segment length 105.899272 meters # Minimum depth: 437.492963 meters looking forward 100.000000 meters along route # Maximum depth: 438.569544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.492963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.490497; longitude = -118.097635; captureRadius = 10; duration = 105; initialDepth = 387.492963; finalDepth = 386.874133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:387.492963 # Seafloor depth:-437.492963 # 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 11 # Segment length 124.113614 meters # Minimum depth: 438.607275 meters looking forward 100.000000 meters along route # Maximum depth: 439.448947 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.607275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.490182; longitude = -118.098711; captureRadius = 10; duration = 124; initialDepth = 388.607275; finalDepth = 387.492963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:388.607275 # Seafloor depth:-438.607275 # 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 10 # Segment length 44.668916 meters # Minimum depth: 439.200989 meters looking forward 100.000000 meters along route # Maximum depth: 439.448947 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.200989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.489813; longitude = -118.099973; captureRadius = 10; duration = 44; # abortOnTimeout = True; initialDepth = 389.200989; finalDepth = 388.607275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:389.200989 # Seafloor depth:-439.200989 # 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 105.331084 meters # Minimum depth: 436.361940 meters looking forward 100.000000 meters along route # Maximum depth: 438.274817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.361940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.490193; longitude = -118.100131; captureRadius = 10; duration = 105; initialDepth = 386.361940; finalDepth = 389.200989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.912877 # Actual altitude: 51.912877 # Commanded vehicle depth:386.36194 # Seafloor depth:-438.274817 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 17.649753 meters # Minimum depth: 435.664795 meters looking forward 100.000000 meters along route # Maximum depth: 436.597671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.664795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491090; longitude = -118.100505; captureRadius = 10; duration = 17; # abortOnTimeout = True; initialDepth = 385.664795; finalDepth = 386.361940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.912877 # Actual altitude: 51.912877 # Commanded vehicle depth:385.664795 # Seafloor depth:-435.664795 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.898303 meters # Minimum depth: 434.625312 meters looking forward 100.000000 meters along route # Maximum depth: 435.238604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.625312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491143; longitude = -118.100326; captureRadius = 10; duration = 105; initialDepth = 384.625312; finalDepth = 385.664795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.613292 # Actual altitude: 50.613292 # Commanded vehicle depth:384.625312 # Seafloor depth:-435.238604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.897935 meters # Minimum depth: 433.989903 meters looking forward 100.000000 meters along route # Maximum depth: 434.403999 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.989903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491457; longitude = -118.099249; captureRadius = 10; duration = 105; initialDepth = 383.989903; finalDepth = 384.625312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.613292 # Actual altitude: 50.613292 # Commanded vehicle depth:383.989903 # Seafloor depth:-434.403999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.897567 meters # Minimum depth: 433.242184 meters looking forward 100.000000 meters along route # Maximum depth: 433.622718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.242184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491772; longitude = -118.098173; captureRadius = 10; duration = 105; initialDepth = 383.242184; finalDepth = 383.989903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.414096 # Actual altitude: 50.414096 # Commanded vehicle depth:383.242184 # Seafloor depth:-433.622718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.66; 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 = 201.66; 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 9 # Segment length 105.897200 meters # Minimum depth: 431.897126 meters looking forward 100.000000 meters along route # Maximum depth: 432.857037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.897126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492087; longitude = -118.097097; captureRadius = 10; duration = 105; initialDepth = 381.897126; finalDepth = 383.242184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.959911 # Actual altitude: 50.959911 # Commanded vehicle depth:381.897126 # Seafloor depth:-432.857037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.84; 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 = 203.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.896832 meters # Minimum depth: 431.407089 meters looking forward 100.000000 meters along route # Maximum depth: 431.675850 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.407089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492402; longitude = -118.096021; captureRadius = 10; duration = 105; initialDepth = 381.407089; finalDepth = 381.897126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.959911 # Actual altitude: 50.959911 # Commanded vehicle depth:381.407089 # Seafloor depth:-431.675850 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.84; 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 = 203.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.896464 meters # Minimum depth: 430.843952 meters looking forward 100.000000 meters along route # Maximum depth: 431.021444 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.843952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492716; longitude = -118.094945; captureRadius = 10; duration = 105; initialDepth = 380.843952; finalDepth = 381.407089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.268761 # Actual altitude: 50.268761 # Commanded vehicle depth:380.843952 # Seafloor depth:-431.021444 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.08; 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 = 201.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.896097 meters # Minimum depth: 430.560171 meters looking forward 100.000000 meters along route # Maximum depth: 430.660525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.560171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493031; longitude = -118.093869; captureRadius = 10; duration = 105; initialDepth = 380.560171; finalDepth = 380.843952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.177492 # Actual altitude: 50.177492 # Commanded vehicle depth:380.560171 # Seafloor depth:-430.660525 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.71; 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 = 200.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.895730 meters # Minimum depth: 432.612463 meters looking forward 100.000000 meters along route # Maximum depth: 447.386494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.612463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493346; longitude = -118.092792; captureRadius = 10; duration = 105; initialDepth = 382.612463; finalDepth = 380.560171; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.100354 # Actual altitude: 50.100354 # Commanded vehicle depth:382.612463 # Seafloor depth:-432.612463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.40; 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 = 200.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.895361 meters # Minimum depth: 472.143181 meters looking forward 100.000000 meters along route # Maximum depth: 498.286786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 422.143181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493660; longitude = -118.091716; captureRadius = 10; duration = 105; initialDepth = 422.143181; finalDepth = 382.612463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:422.143181 # Seafloor depth:-472.143181 # 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 9 # Segment length 105.894995 meters # Minimum depth: 498.972487 meters looking forward 100.000000 meters along route # Maximum depth: 501.338272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 448.972487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493975; longitude = -118.090640; captureRadius = 10; duration = 105; initialDepth = 448.972487; finalDepth = 422.143181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:448.972487 # Seafloor depth:-498.972487 # 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 9 # Segment length 105.894627 meters # Minimum depth: 503.156102 meters looking forward 100.000000 meters along route # Maximum depth: 504.497203 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.156102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.494290; longitude = -118.089564; captureRadius = 10; duration = 105; initialDepth = 453.156102; finalDepth = 448.972487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:453.156102 # Seafloor depth:-503.156102 # 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 9 # Segment length 105.894259 meters # Minimum depth: 505.032687 meters looking forward 100.000000 meters along route # Maximum depth: 505.392270 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.032687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.494605; longitude = -118.088488; captureRadius = 10; duration = 105; initialDepth = 455.032687; finalDepth = 453.156102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:455.032687 # Seafloor depth:-505.032687 # 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 9 # Segment length 105.893892 meters # Minimum depth: 507.135559 meters looking forward 100.000000 meters along route # Maximum depth: 508.905681 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.135559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.494919; longitude = -118.087412; captureRadius = 10; duration = 105; initialDepth = 457.135559; finalDepth = 455.032687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:457.135559 # Seafloor depth:-507.135559 # 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 9 # Segment length 105.893525 meters # Minimum depth: 508.806911 meters looking forward 100.000000 meters along route # Maximum depth: 508.853049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.806911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.495234; longitude = -118.086336; captureRadius = 10; duration = 105; initialDepth = 458.806911; finalDepth = 457.135559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:458.806911 # Seafloor depth:-508.806911 # 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 9 # Segment length 105.893157 meters # Minimum depth: 507.617096 meters looking forward 100.000000 meters along route # Maximum depth: 509.172272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.617096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.495549; longitude = -118.085259; captureRadius = 10; duration = 105; initialDepth = 457.617096; finalDepth = 458.806911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.535295 # Actual altitude: 51.535295 # Commanded vehicle depth:457.617096 # Seafloor depth:-509.152391 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.14; 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 = 206.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.892790 meters # Minimum depth: 508.447221 meters looking forward 100.000000 meters along route # Maximum depth: 509.552826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.447221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.495864; longitude = -118.084183; captureRadius = 10; duration = 105; initialDepth = 458.447221; finalDepth = 457.617096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.535295 # Actual altitude: 51.535295 # Commanded vehicle depth:458.447221 # Seafloor depth:-508.447221 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.14; 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 = 206.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.892423 meters # Minimum depth: 507.250216 meters looking forward 100.000000 meters along route # Maximum depth: 509.606905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.250216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.496178; longitude = -118.083107; captureRadius = 10; duration = 105; initialDepth = 457.250216; finalDepth = 458.447221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.356689 # Actual altitude: 52.356689 # Commanded vehicle depth:457.250216 # Seafloor depth:-509.606905 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.94; MB_Bottom_Detect_Filter_Max_Range = 209.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.892055 meters # Minimum depth: 501.748077 meters looking forward 100.000000 meters along route # Maximum depth: 505.648918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 451.748077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.496493; longitude = -118.082031; captureRadius = 10; duration = 105; initialDepth = 451.748077; finalDepth = 457.250216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.900841 # Actual altitude: 53.900841 # Commanded vehicle depth:451.748077 # Seafloor depth:-505.648918 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.60; 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 = 215.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.891689 meters # Minimum depth: 495.197269 meters looking forward 100.000000 meters along route # Maximum depth: 497.339564 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.197269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.496808; longitude = -118.080955; captureRadius = 10; duration = 105; initialDepth = 445.197269; finalDepth = 451.748077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.900841 # Actual altitude: 53.900841 # Commanded vehicle depth:445.197269 # Seafloor depth:-497.339564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.60; 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 = 215.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.891320 meters # Minimum depth: 492.725625 meters looking forward 100.000000 meters along route # Maximum depth: 493.919517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.725625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.497122; longitude = -118.079879; captureRadius = 10; duration = 105; initialDepth = 442.725625; finalDepth = 445.197269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.142295 # Actual altitude: 52.142295 # Commanded vehicle depth:442.725625 # Seafloor depth:-493.919517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.57; 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 = 208.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.890954 meters # Minimum depth: 476.037462 meters looking forward 100.000000 meters along route # Maximum depth: 489.759896 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 426.037462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.497437; longitude = -118.078802; captureRadius = 10; duration = 105; initialDepth = 426.037462; finalDepth = 442.725625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.722434 # Actual altitude: 63.722434 # Commanded vehicle depth:426.037462 # Seafloor depth:-489.759896 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.49; MB_Bottom_Detect_Filter_Max_Range = 254.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 191.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.890587 meters # Minimum depth: 474.674679 meters looking forward 100.000000 meters along route # Maximum depth: 478.674527 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 424.674679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.497752; longitude = -118.077726; captureRadius = 10; duration = 105; initialDepth = 424.674679; finalDepth = 426.037462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.722434 # Actual altitude: 63.722434 # Commanded vehicle depth:424.674679 # Seafloor depth:-474.674679 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.49; MB_Bottom_Detect_Filter_Max_Range = 254.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 191.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.890219 meters # Minimum depth: 504.428314 meters looking forward 100.000000 meters along route # Maximum depth: 520.000301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.428314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.498067; longitude = -118.076650; captureRadius = 10; duration = 105; initialDepth = 454.428314; finalDepth = 424.674679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:454.428314 # Seafloor depth:-504.428314 # 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 9 # Segment length 105.889852 meters # Minimum depth: 522.976305 meters looking forward 100.000000 meters along route # Maximum depth: 524.942818 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.976305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.498381; longitude = -118.075574; captureRadius = 10; duration = 105; initialDepth = 472.976305; finalDepth = 454.428314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:472.976305 # Seafloor depth:-522.976305 # 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 9 # Segment length 105.889485 meters # Minimum depth: 526.352212 meters looking forward 100.000000 meters along route # Maximum depth: 526.640011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.352212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.498696; longitude = -118.074498; captureRadius = 10; duration = 105; initialDepth = 476.352212; finalDepth = 472.976305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:476.352212 # Seafloor depth:-526.352212 # 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 9 # Segment length 111.012776 meters # Minimum depth: 526.874830 meters looking forward 100.000000 meters along route # Maximum depth: 527.157532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.874830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.499011; longitude = -118.073422; captureRadius = 10; duration = 111; initialDepth = 476.874830; finalDepth = 476.352212; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:476.87483 # Seafloor depth:-526.874830 # 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 9 # Segment length 100.765093 meters # Minimum depth: 526.705429 meters looking forward 100.000000 meters along route # Maximum depth: 527.148621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.705429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.499341; longitude = -118.072293; captureRadius = 10; duration = 100; initialDepth = 476.705429; finalDepth = 476.874830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4431920000001 # Actual altitude: 50.4431920000001 # Commanded vehicle depth:476.705429 # Seafloor depth:-527.148621 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.888383 meters # Minimum depth: 510.673970 meters looking forward 100.000000 meters along route # Maximum depth: 523.521937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 460.673970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.499640; longitude = -118.071269; captureRadius = 10; duration = 105; initialDepth = 460.673970; finalDepth = 476.705429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.847967 # Actual altitude: 62.847967 # Commanded vehicle depth:460.67397 # Seafloor depth:-523.521937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.39; 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 = 251.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 188.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.888017 meters # Minimum depth: 502.886286 meters looking forward 100.000000 meters along route # Maximum depth: 507.669942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 452.886286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.499955; longitude = -118.070193; captureRadius = 10; duration = 105; initialDepth = 452.886286; finalDepth = 460.673970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.847967 # Actual altitude: 62.847967 # Commanded vehicle depth:452.886286 # Seafloor depth:-507.669942 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.39; 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 = 251.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 188.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.887650 meters # Minimum depth: 492.638485 meters looking forward 100.000000 meters along route # Maximum depth: 495.696212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.638485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.500270; longitude = -118.069117; captureRadius = 10; duration = 105; initialDepth = 442.638485; finalDepth = 452.886286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.783656 # Actual altitude: 54.783656 # Commanded vehicle depth:442.638485 # Seafloor depth:-495.696212 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.13; 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 = 219.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.887283 meters # Minimum depth: 489.935326 meters looking forward 100.000000 meters along route # Maximum depth: 491.217239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 439.935326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.500584; longitude = -118.068041; captureRadius = 10; duration = 105; initialDepth = 439.935326; finalDepth = 442.638485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.057727 # Actual altitude: 53.057727 # Commanded vehicle depth:439.935326 # Seafloor depth:-491.217239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.886915 meters # Minimum depth: 489.053279 meters looking forward 100.000000 meters along route # Maximum depth: 489.529841 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 439.053279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.500899; longitude = -118.066965; captureRadius = 10; duration = 105; initialDepth = 439.053279; finalDepth = 439.935326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.281913 # Actual altitude: 51.281913 # Commanded vehicle depth:439.053279 # Seafloor depth:-489.529841 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.886549 meters # Minimum depth: 482.344754 meters looking forward 100.000000 meters along route # Maximum depth: 487.420478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 432.344754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.501214; longitude = -118.065888; captureRadius = 10; duration = 105; initialDepth = 432.344754; finalDepth = 439.053279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.075724 # Actual altitude: 55.075724 # Commanded vehicle depth:432.344754 # Seafloor depth:-487.420478 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.30; 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 = 220.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.886182 meters # Minimum depth: 481.007948 meters looking forward 100.000000 meters along route # Maximum depth: 481.983488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 431.007948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.501529; longitude = -118.064812; captureRadius = 10; duration = 105; initialDepth = 431.007948; finalDepth = 432.344754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.075724 # Actual altitude: 55.075724 # Commanded vehicle depth:431.007948 # Seafloor depth:-481.983488 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.30; 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 = 220.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 123.533416 meters # Minimum depth: 479.733181 meters looking forward 100.000000 meters along route # Maximum depth: 480.309816 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 429.733181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.501843; longitude = -118.063736; captureRadius = 10; duration = 123; initialDepth = 429.733181; finalDepth = 431.007948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.97554 # Actual altitude: 50.97554 # Commanded vehicle depth:429.733181 # Seafloor depth:-480.309816 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 42.126919 meters # Minimum depth: 479.733181 meters looking forward 100.000000 meters along route # Maximum depth: 479.915222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 429.733181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.502211; longitude = -118.062480; captureRadius = 10; duration = 42; # abortOnTimeout = True; initialDepth = 429.733181; finalDepth = 429.733181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.576635 # Actual altitude: 50.576635 # Commanded vehicle depth:429.733181 # Seafloor depth:-479.915222 # 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 107.873081 meters # Minimum depth: 478.765185 meters looking forward 100.000000 meters along route # Maximum depth: 479.362410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 428.765185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.502569; longitude = -118.062630; captureRadius = 10; duration = 107; initialDepth = 428.765185; finalDepth = 429.733181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.597225 # Actual altitude: 50.597225 # Commanded vehicle depth:428.765185 # Seafloor depth:-479.362410 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.39; 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 = 202.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 18.257045 meters # Minimum depth: 478.401566 meters looking forward 100.000000 meters along route # Maximum depth: 478.765185 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 428.401566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.503488; longitude = -118.063012; captureRadius = 10; duration = 18; # abortOnTimeout = True; initialDepth = 428.401566; finalDepth = 428.765185; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.597225 # Actual altitude: 50.597225 # Commanded vehicle depth:428.401566 # Seafloor depth:-478.401566 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.39; 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 = 202.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.750139 meters # Minimum depth: 477.807390 meters looking forward 100.000000 meters along route # Maximum depth: 478.371100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 427.807390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.503434; longitude = -118.063198; captureRadius = 10; duration = 109; initialDepth = 427.807390; finalDepth = 428.401566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.255802 # Actual altitude: 50.255802 # Commanded vehicle depth:427.80739 # Seafloor depth:-478.063192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.02; 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 = 201.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 102.019182 meters # Minimum depth: 478.439156 meters looking forward 100.000000 meters along route # Maximum depth: 479.364134 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 428.439156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.503107; longitude = -118.064313; captureRadius = 10; duration = 102; initialDepth = 428.439156; finalDepth = 427.807390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.255802 # Actual altitude: 50.255802 # Commanded vehicle depth:428.439156 # Seafloor depth:-478.439156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.02; 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 = 201.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.885210 meters # Minimum depth: 480.531952 meters looking forward 100.000000 meters along route # Maximum depth: 484.373541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 430.531952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.502804; longitude = -118.065350; captureRadius = 10; duration = 105; initialDepth = 430.531952; finalDepth = 428.439156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:430.531952 # Seafloor depth:-480.531952 # 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 7 # Segment length 105.885578 meters # Minimum depth: 485.972176 meters looking forward 100.000000 meters along route # Maximum depth: 486.554580 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 435.972176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.502489; longitude = -118.066426; captureRadius = 10; duration = 105; initialDepth = 435.972176; finalDepth = 430.531952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:435.972176 # Seafloor depth:-485.972176 # 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 7 # Segment length 105.885945 meters # Minimum depth: 485.851852 meters looking forward 100.000000 meters along route # Maximum depth: 486.043500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 435.851852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.502175; longitude = -118.067503; captureRadius = 10; duration = 105; initialDepth = 435.851852; finalDepth = 435.972176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.191648 # Actual altitude: 50.191648 # Commanded vehicle depth:435.851852 # Seafloor depth:-486.043500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.77; 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 = 200.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.886311 meters # Minimum depth: 486.740552 meters looking forward 100.000000 meters along route # Maximum depth: 488.158452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.740552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.501860; longitude = -118.068579; captureRadius = 10; duration = 105; initialDepth = 436.740552; finalDepth = 435.851852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.191648 # Actual altitude: 50.191648 # Commanded vehicle depth:436.740552 # Seafloor depth:-486.740552 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.77; 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 = 200.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.886679 meters # Minimum depth: 491.796643 meters looking forward 100.000000 meters along route # Maximum depth: 498.312042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 441.796643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.501545; longitude = -118.069655; captureRadius = 10; duration = 105; initialDepth = 441.796643; finalDepth = 436.740552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:441.796643 # Seafloor depth:-491.796643 # 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 7 # Segment length 105.887046 meters # Minimum depth: 503.264752 meters looking forward 100.000000 meters along route # Maximum depth: 517.096958 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.264752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.501230; longitude = -118.070731; captureRadius = 10; duration = 105; initialDepth = 453.264752; finalDepth = 441.796643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:453.264752 # Seafloor depth:-503.264752 # 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 7 # Segment length 105.887412 meters # Minimum depth: 519.998874 meters looking forward 100.000000 meters along route # Maximum depth: 524.718513 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 469.998874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.500916; longitude = -118.071807; captureRadius = 10; duration = 105; initialDepth = 469.998874; finalDepth = 453.264752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:469.998874 # Seafloor depth:-519.998874 # 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 7 # Segment length 105.887780 meters # Minimum depth: 525.221630 meters looking forward 100.000000 meters along route # Maximum depth: 525.342226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 475.221630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.500601; longitude = -118.072883; captureRadius = 10; duration = 105; initialDepth = 475.221630; finalDepth = 469.998874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.078124 # Actual altitude: 50.078124 # Commanded vehicle depth:475.22163 # Seafloor depth:-525.299754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.31; 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 = 200.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.888147 meters # Minimum depth: 524.445603 meters looking forward 100.000000 meters along route # Maximum depth: 524.776336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 474.445603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.500286; longitude = -118.073960; captureRadius = 10; duration = 105; initialDepth = 474.445603; finalDepth = 475.221630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.330733 # Actual altitude: 50.330733 # Commanded vehicle depth:474.445603 # Seafloor depth:-524.776336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.888514 meters # Minimum depth: 522.731436 meters looking forward 100.000000 meters along route # Maximum depth: 523.996010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.731436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.499972; longitude = -118.075036; captureRadius = 10; duration = 105; initialDepth = 472.731436; finalDepth = 474.445603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2645739999999 # Actual altitude: 51.2645739999999 # Commanded vehicle depth:472.731436 # Seafloor depth:-523.996010 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 106.335488 meters # Minimum depth: 506.116677 meters looking forward 100.000000 meters along route # Maximum depth: 520.029502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.116677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.499657; longitude = -118.076112; captureRadius = 10; duration = 106; initialDepth = 456.116677; finalDepth = 472.731436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.912825 # Actual altitude: 63.912825 # Commanded vehicle depth:456.116677 # Seafloor depth:-520.029502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 255.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.57; MB_Bottom_Detect_Filter_Max_Range = 255.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 191.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.442642 meters # Minimum depth: 479.229529 meters looking forward 100.000000 meters along route # Maximum depth: 505.911749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 429.229529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.499341; longitude = -118.077193; captureRadius = 10; duration = 105; initialDepth = 429.229529; finalDepth = 456.116677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.68222 # Actual altitude: 76.68222 # Commanded vehicle depth:429.229529 # Seafloor depth:-505.911749 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 306.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.67; MB_Bottom_Detect_Filter_Max_Range = 306.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.889616 meters # Minimum depth: 460.924579 meters looking forward 100.000000 meters along route # Maximum depth: 462.021637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.924579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.499027; longitude = -118.078264; captureRadius = 10; duration = 105; initialDepth = 410.924579; finalDepth = 429.229529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.68222 # Actual altitude: 76.68222 # Commanded vehicle depth:410.924579 # Seafloor depth:-460.924579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 306.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.67; MB_Bottom_Detect_Filter_Max_Range = 306.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.889983 meters # Minimum depth: 464.839786 meters looking forward 100.000000 meters along route # Maximum depth: 470.065391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 414.839786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.498713; longitude = -118.079340; captureRadius = 10; duration = 105; initialDepth = 414.839786; finalDepth = 410.924579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:414.839786 # Seafloor depth:-464.839786 # 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 7 # Segment length 105.890350 meters # Minimum depth: 474.014282 meters looking forward 100.000000 meters along route # Maximum depth: 477.206816 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 424.014282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.498398; longitude = -118.080417; captureRadius = 10; duration = 105; initialDepth = 424.014282; finalDepth = 414.839786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:424.014282 # Seafloor depth:-474.014282 # 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 7 # Segment length 105.890718 meters # Minimum depth: 480.727757 meters looking forward 100.000000 meters along route # Maximum depth: 484.703995 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 430.727757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.498083; longitude = -118.081493; captureRadius = 10; duration = 105; initialDepth = 430.727757; finalDepth = 424.014282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:430.727757 # Seafloor depth:-480.727757 # 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 7 # Segment length 105.891085 meters # Minimum depth: 487.621481 meters looking forward 100.000000 meters along route # Maximum depth: 487.775371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.621481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.497768; longitude = -118.082569; captureRadius = 10; duration = 105; initialDepth = 437.621481; finalDepth = 430.727757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:437.621481 # Seafloor depth:-487.621481 # 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 7 # Segment length 105.891452 meters # Minimum depth: 476.255781 meters looking forward 100.000000 meters along route # Maximum depth: 487.081540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 426.255781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.497454; longitude = -118.083645; captureRadius = 10; duration = 105; initialDepth = 426.255781; finalDepth = 437.621481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.825759 # Actual altitude: 60.825759 # Commanded vehicle depth:426.255781 # Seafloor depth:-487.081540 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.33; MB_Bottom_Detect_Filter_Max_Range = 243.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 182.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.891820 meters # Minimum depth: 469.023019 meters looking forward 100.000000 meters along route # Maximum depth: 474.136783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.023019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.497139; longitude = -118.084721; captureRadius = 10; duration = 105; initialDepth = 419.023019; finalDepth = 426.255781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.825759 # Actual altitude: 60.825759 # Commanded vehicle depth:419.023019 # Seafloor depth:-474.136783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.33; MB_Bottom_Detect_Filter_Max_Range = 243.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 182.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.892187 meters # Minimum depth: 465.845129 meters looking forward 100.000000 meters along route # Maximum depth: 469.890129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 415.845129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.496824; longitude = -118.085797; captureRadius = 10; duration = 105; initialDepth = 415.845129; finalDepth = 419.023019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.113764 # Actual altitude: 55.113764 # Commanded vehicle depth:415.845129 # Seafloor depth:-465.845129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.05; MB_Bottom_Detect_Filter_Max_Range = 220.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.892554 meters # Minimum depth: 481.698867 meters looking forward 100.000000 meters along route # Maximum depth: 484.128174 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 431.698867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.496510; longitude = -118.086874; captureRadius = 10; duration = 105; initialDepth = 431.698867; finalDepth = 415.845129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:431.698867 # Seafloor depth:-481.698867 # 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 7 # Segment length 105.892922 meters # Minimum depth: 480.261390 meters looking forward 100.000000 meters along route # Maximum depth: 483.494235 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 430.261390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.496195; longitude = -118.087950; captureRadius = 10; duration = 105; initialDepth = 430.261390; finalDepth = 431.698867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.232845 # Actual altitude: 53.232845 # Commanded vehicle depth:430.26139 # Seafloor depth:-483.494235 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.29; MB_Bottom_Detect_Filter_Max_Range = 212.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.893289 meters # Minimum depth: 456.797184 meters looking forward 100.000000 meters along route # Maximum depth: 475.521137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 406.797184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.495880; longitude = -118.089026; captureRadius = 10; duration = 105; initialDepth = 406.797184; finalDepth = 430.261390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.723953 # Actual altitude: 68.723953 # Commanded vehicle depth:406.797184 # Seafloor depth:-475.521137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 274.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.49; MB_Bottom_Detect_Filter_Max_Range = 274.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.893657 meters # Minimum depth: 446.023839 meters looking forward 100.000000 meters along route # Maximum depth: 456.051451 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.023839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.495565; longitude = -118.090102; captureRadius = 10; duration = 105; initialDepth = 396.023839; finalDepth = 406.797184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.723953 # Actual altitude: 68.723953 # Commanded vehicle depth:396.023839 # Seafloor depth:-456.051451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 274.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.49; MB_Bottom_Detect_Filter_Max_Range = 274.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.894024 meters # Minimum depth: 430.194426 meters looking forward 100.000000 meters along route # Maximum depth: 438.268344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.194426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.495251; longitude = -118.091178; captureRadius = 10; duration = 105; initialDepth = 380.194426; finalDepth = 396.023839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.027612 # Actual altitude: 60.027612 # Commanded vehicle depth:380.194426 # Seafloor depth:-438.268344 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.01; MB_Bottom_Detect_Filter_Max_Range = 240.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.894392 meters # Minimum depth: 426.666430 meters looking forward 100.000000 meters along route # Maximum depth: 427.508507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 376.666430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.494936; longitude = -118.092254; captureRadius = 10; duration = 105; initialDepth = 376.666430; finalDepth = 380.194426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.073918 # Actual altitude: 58.073918 # Commanded vehicle depth:376.66643 # Seafloor depth:-427.508507 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.23; MB_Bottom_Detect_Filter_Max_Range = 232.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.894759 meters # Minimum depth: 426.660305 meters looking forward 100.000000 meters along route # Maximum depth: 426.686340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 376.660305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.494621; longitude = -118.093331; captureRadius = 10; duration = 105; initialDepth = 376.660305; finalDepth = 376.666430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.842077 # Actual altitude: 50.842077 # Commanded vehicle depth:376.660305 # Seafloor depth:-426.660305 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.37; 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 = 203.37; 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 7 # Segment length 105.895127 meters # Minimum depth: 426.843568 meters looking forward 100.000000 meters along route # Maximum depth: 427.014950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 376.843568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.494306; longitude = -118.094407; captureRadius = 10; duration = 105; initialDepth = 376.843568; finalDepth = 376.660305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:376.843568 # Seafloor depth:-426.843568 # 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 7 # Segment length 105.895495 meters # Minimum depth: 427.301980 meters looking forward 100.000000 meters along route # Maximum depth: 427.686454 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.301980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493992; longitude = -118.095483; captureRadius = 10; duration = 105; initialDepth = 377.301980; finalDepth = 376.843568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:377.30198 # Seafloor depth:-427.301980 # 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 7 # Segment length 105.895862 meters # Minimum depth: 428.246413 meters looking forward 100.000000 meters along route # Maximum depth: 428.812367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 378.246413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493677; longitude = -118.096559; captureRadius = 10; duration = 105; initialDepth = 378.246413; finalDepth = 377.301980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:378.246413 # Seafloor depth:-428.246413 # 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 7 # Segment length 105.896230 meters # Minimum depth: 428.970888 meters looking forward 100.000000 meters along route # Maximum depth: 429.383705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 378.970888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493362; longitude = -118.097635; captureRadius = 10; duration = 105; initialDepth = 378.970888; finalDepth = 378.246413; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:378.970888 # Seafloor depth:-428.970888 # 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 7 # Segment length 105.896597 meters # Minimum depth: 429.680379 meters looking forward 100.000000 meters along route # Maximum depth: 430.007043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.680379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493048; longitude = -118.098711; captureRadius = 10; duration = 105; initialDepth = 379.680379; finalDepth = 378.970888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:379.680379 # Seafloor depth:-429.680379 # 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 7 # Segment length 122.984097 meters # Minimum depth: 430.387764 meters looking forward 100.000000 meters along route # Maximum depth: 431.330666 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.387764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492733; longitude = -118.099788; captureRadius = 10; duration = 122; initialDepth = 380.387764; finalDepth = 379.680379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:380.387764 # Seafloor depth:-430.387764 # 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 6 # Segment length 150.000000 meters # Minimum depth: 427.952042 meters looking forward 100.000000 meters along route # Maximum depth: 430.487083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.952042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492367; longitude = -118.101037; captureRadius = 10; duration = 150; # abortOnTimeout = True; initialDepth = 377.952042; finalDepth = 380.387764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.535041 # Actual altitude: 52.535041 # Commanded vehicle depth:377.952042 # Seafloor depth:-430.487083 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.14; 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 = 210.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 16.526109 meters # Minimum depth: 427.187943 meters looking forward 100.000000 meters along route # Maximum depth: 428.443203 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.187943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493644; longitude = -118.101570; captureRadius = 10; duration = 16; # abortOnTimeout = True; initialDepth = 377.187943; finalDepth = 377.952042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.535041 # Actual altitude: 52.535041 # Commanded vehicle depth:377.187943 # Seafloor depth:-427.187943 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.14; 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 = 210.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.895628 meters # Minimum depth: 426.599994 meters looking forward 100.000000 meters along route # Maximum depth: 427.226092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 376.599994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493694; longitude = -118.101402; captureRadius = 10; duration = 105; initialDepth = 376.599994; finalDepth = 377.187943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.626098 # Actual altitude: 50.626098 # Commanded vehicle depth:376.599994 # Seafloor depth:-427.226092 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.895260 meters # Minimum depth: 426.144372 meters looking forward 100.000000 meters along route # Maximum depth: 426.458426 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 376.144372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.494008; longitude = -118.100326; captureRadius = 10; duration = 105; initialDepth = 376.144372; finalDepth = 376.599994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.626098 # Actual altitude: 50.626098 # Commanded vehicle depth:376.144372 # Seafloor depth:-426.458426 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.894892 meters # Minimum depth: 425.354659 meters looking forward 100.000000 meters along route # Maximum depth: 425.734239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.354659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.494323; longitude = -118.099249; captureRadius = 10; duration = 105; initialDepth = 375.354659; finalDepth = 376.144372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.37958 # Actual altitude: 50.37958 # Commanded vehicle depth:375.354659 # Seafloor depth:-425.734239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.52; 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 = 201.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.894525 meters # Minimum depth: 424.609882 meters looking forward 100.000000 meters along route # Maximum depth: 425.047905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 374.609882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.494638; longitude = -118.098173; captureRadius = 10; duration = 105; initialDepth = 374.609882; finalDepth = 375.354659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.438023 # Actual altitude: 50.438023 # Commanded vehicle depth:374.609882 # Seafloor depth:-425.047905 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.894157 meters # Minimum depth: 424.030545 meters looking forward 100.000000 meters along route # Maximum depth: 424.247156 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 374.030545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.494952; longitude = -118.097097; captureRadius = 10; duration = 105; initialDepth = 374.030545; finalDepth = 374.609882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.438023 # Actual altitude: 50.438023 # Commanded vehicle depth:374.030545 # Seafloor depth:-424.247156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.893789 meters # Minimum depth: 423.098608 meters looking forward 100.000000 meters along route # Maximum depth: 423.582387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.098608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.495267; longitude = -118.096021; captureRadius = 10; duration = 105; initialDepth = 373.098608; finalDepth = 374.030545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.483779 # Actual altitude: 50.483779 # Commanded vehicle depth:373.098608 # Seafloor depth:-423.582387 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.893422 meters # Minimum depth: 422.952169 meters looking forward 100.000000 meters along route # Maximum depth: 423.098586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.952169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.495582; longitude = -118.094945; captureRadius = 10; duration = 105; initialDepth = 372.952169; finalDepth = 373.098608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.483779 # Actual altitude: 50.483779 # Commanded vehicle depth:372.952169 # Seafloor depth:-423.098586 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.893054 meters # Minimum depth: 423.023417 meters looking forward 100.000000 meters along route # Maximum depth: 423.239412 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.023417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.495897; longitude = -118.093869; captureRadius = 10; duration = 105; initialDepth = 373.023417; finalDepth = 372.952169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.146417 # Actual altitude: 50.146417 # Commanded vehicle depth:373.023417 # Seafloor depth:-423.023417 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.59; 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 = 200.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.892687 meters # Minimum depth: 423.437116 meters looking forward 100.000000 meters along route # Maximum depth: 423.861152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.437116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.496211; longitude = -118.092792; captureRadius = 10; duration = 105; initialDepth = 373.437116; finalDepth = 373.023417; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:373.437116 # Seafloor depth:-423.437116 # 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 5 # Segment length 105.892319 meters # Minimum depth: 424.472389 meters looking forward 100.000000 meters along route # Maximum depth: 425.407119 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 374.472389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.496526; longitude = -118.091716; captureRadius = 10; duration = 105; initialDepth = 374.472389; finalDepth = 373.437116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:374.472389 # Seafloor depth:-424.472389 # 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 5 # Segment length 105.891952 meters # Minimum depth: 427.029982 meters looking forward 100.000000 meters along route # Maximum depth: 429.793622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.029982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.496841; longitude = -118.090640; captureRadius = 10; duration = 105; initialDepth = 377.029982; finalDepth = 374.472389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:377.029982 # Seafloor depth:-427.029982 # 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 5 # Segment length 105.891584 meters # Minimum depth: 433.585260 meters looking forward 100.000000 meters along route # Maximum depth: 438.086993 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.585260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.497156; longitude = -118.089564; captureRadius = 10; duration = 105; initialDepth = 383.585260; finalDepth = 377.029982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:383.58526 # Seafloor depth:-433.585260 # 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 5 # Segment length 105.891216 meters # Minimum depth: 442.589033 meters looking forward 100.000000 meters along route # Maximum depth: 447.424239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.589033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.497470; longitude = -118.088488; captureRadius = 10; duration = 105; initialDepth = 392.589033; finalDepth = 383.585260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:392.589033 # Seafloor depth:-442.589033 # 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 5 # Segment length 105.890850 meters # Minimum depth: 448.247196 meters looking forward 100.000000 meters along route # Maximum depth: 449.397138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.247196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.497785; longitude = -118.087412; captureRadius = 10; duration = 105; initialDepth = 398.247196; finalDepth = 392.589033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:398.247196 # Seafloor depth:-448.247196 # 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 5 # Segment length 105.890481 meters # Minimum depth: 450.933848 meters looking forward 100.000000 meters along route # Maximum depth: 453.465610 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 400.933848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.498100; longitude = -118.086336; captureRadius = 10; duration = 105; initialDepth = 400.933848; finalDepth = 398.247196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:400.933848 # Seafloor depth:-450.933848 # 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 5 # Segment length 105.890115 meters # Minimum depth: 456.836151 meters looking forward 100.000000 meters along route # Maximum depth: 460.906897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 406.836151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.498414; longitude = -118.085259; captureRadius = 10; duration = 105; initialDepth = 406.836151; finalDepth = 400.933848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:406.836151 # Seafloor depth:-456.836151 # 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 5 # Segment length 105.889747 meters # Minimum depth: 462.965411 meters looking forward 100.000000 meters along route # Maximum depth: 463.077474 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 412.965411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.498729; longitude = -118.084183; captureRadius = 10; duration = 105; initialDepth = 412.965411; finalDepth = 406.836151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.112063 # Actual altitude: 50.112063 # Commanded vehicle depth:412.965411 # Seafloor depth:-463.077474 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.45; 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 = 200.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.889380 meters # Minimum depth: 461.290289 meters looking forward 100.000000 meters along route # Maximum depth: 462.468088 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 411.290289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.499044; longitude = -118.083107; captureRadius = 10; duration = 105; initialDepth = 411.290289; finalDepth = 412.965411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1777990000001 # Actual altitude: 51.1777990000001 # Commanded vehicle depth:411.290289 # Seafloor depth:-462.468088 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.71; 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 = 204.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.889012 meters # Minimum depth: 460.090160 meters looking forward 100.000000 meters along route # Maximum depth: 461.211979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.090160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.499359; longitude = -118.082031; captureRadius = 10; duration = 105; initialDepth = 410.090160; finalDepth = 411.290289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1777990000001 # Actual altitude: 51.1777990000001 # Commanded vehicle depth:410.09016 # Seafloor depth:-461.211979 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.71; 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 = 204.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.888645 meters # Minimum depth: 457.344217 meters looking forward 100.000000 meters along route # Maximum depth: 459.011209 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 407.344217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.499673; longitude = -118.080955; captureRadius = 10; duration = 105; initialDepth = 407.344217; finalDepth = 410.090160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.666992 # Actual altitude: 51.666992 # Commanded vehicle depth:407.344217 # Seafloor depth:-459.011209 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.67; MB_Bottom_Detect_Filter_Max_Range = 206.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.888278 meters # Minimum depth: 455.628432 meters looking forward 100.000000 meters along route # Maximum depth: 456.701942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 405.628432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.499988; longitude = -118.079879; captureRadius = 10; duration = 105; initialDepth = 405.628432; finalDepth = 407.344217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.666992 # Actual altitude: 51.666992 # Commanded vehicle depth:405.628432 # Seafloor depth:-456.701942 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.67; MB_Bottom_Detect_Filter_Max_Range = 206.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.887910 meters # Minimum depth: 461.020214 meters looking forward 100.000000 meters along route # Maximum depth: 484.186865 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 411.020214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.500303; longitude = -118.078802; captureRadius = 10; duration = 105; initialDepth = 411.020214; finalDepth = 405.628432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.07351 # Actual altitude: 51.07351 # Commanded vehicle depth:411.020214 # Seafloor depth:-461.020214 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.29; 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 = 204.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.887544 meters # Minimum depth: 504.840290 meters looking forward 100.000000 meters along route # Maximum depth: 513.119675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.840290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.500618; longitude = -118.077726; captureRadius = 10; duration = 105; initialDepth = 454.840290; finalDepth = 411.020214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:454.84029 # Seafloor depth:-504.840290 # 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 5 # Segment length 105.887176 meters # Minimum depth: 517.938866 meters looking forward 100.000000 meters along route # Maximum depth: 519.979546 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.938866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.500932; longitude = -118.076650; captureRadius = 10; duration = 105; initialDepth = 467.938866; finalDepth = 454.840290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:467.938866 # Seafloor depth:-517.938866 # 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 5 # Segment length 105.886809 meters # Minimum depth: 521.382078 meters looking forward 100.000000 meters along route # Maximum depth: 522.122664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.382078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.501247; longitude = -118.075574; captureRadius = 10; duration = 105; initialDepth = 471.382078; finalDepth = 467.938866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:471.382078 # Seafloor depth:-521.382078 # 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 5 # Segment length 105.886442 meters # Minimum depth: 522.073862 meters looking forward 100.000000 meters along route # Maximum depth: 522.159391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.073862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.501562; longitude = -118.074498; captureRadius = 10; duration = 105; initialDepth = 472.073862; finalDepth = 471.382078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0855290000001 # Actual altitude: 50.0855290000001 # Commanded vehicle depth:472.073862 # Seafloor depth:-522.159391 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.34; 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 = 200.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.886075 meters # Minimum depth: 521.941360 meters looking forward 100.000000 meters along route # Maximum depth: 522.181761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.941360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.501877; longitude = -118.073422; captureRadius = 10; duration = 105; initialDepth = 471.941360; finalDepth = 472.073862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.240401 # Actual altitude: 50.240401 # Commanded vehicle depth:471.94136 # Seafloor depth:-522.181761 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.96; 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 = 200.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.885707 meters # Minimum depth: 503.448544 meters looking forward 100.000000 meters along route # Maximum depth: 514.734753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.448544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.502191; longitude = -118.072345; captureRadius = 10; duration = 105; initialDepth = 453.448544; finalDepth = 471.941360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.2862089999999 # Actual altitude: 61.2862089999999 # Commanded vehicle depth:453.448544 # Seafloor depth:-514.734753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 245.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.51; MB_Bottom_Detect_Filter_Max_Range = 245.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 183.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.885341 meters # Minimum depth: 494.667090 meters looking forward 100.000000 meters along route # Maximum depth: 498.159301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 444.667090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.502506; longitude = -118.071269; captureRadius = 10; duration = 105; initialDepth = 444.667090; finalDepth = 453.448544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.2862089999999 # Actual altitude: 61.2862089999999 # Commanded vehicle depth:444.66709 # Seafloor depth:-498.159301 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 245.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.51; MB_Bottom_Detect_Filter_Max_Range = 245.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 183.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.884973 meters # Minimum depth: 483.506062 meters looking forward 100.000000 meters along route # Maximum depth: 488.923140 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 433.506062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.502821; longitude = -118.070193; captureRadius = 10; duration = 105; initialDepth = 433.506062; finalDepth = 444.667090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.417078 # Actual altitude: 55.417078 # Commanded vehicle depth:433.506062 # Seafloor depth:-488.923140 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.67; 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 = 221.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.884607 meters # Minimum depth: 481.930140 meters looking forward 100.000000 meters along route # Maximum depth: 483.214387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 431.930140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.503135; longitude = -118.069117; captureRadius = 10; duration = 105; initialDepth = 431.930140; finalDepth = 433.506062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.417078 # Actual altitude: 55.417078 # Commanded vehicle depth:431.93014 # Seafloor depth:-483.214387 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.67; 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 = 221.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.884239 meters # Minimum depth: 482.196190 meters looking forward 100.000000 meters along route # Maximum depth: 483.818322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 432.196190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.503450; longitude = -118.068041; captureRadius = 10; duration = 105; initialDepth = 432.196190; finalDepth = 431.930140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.284247 # Actual altitude: 51.284247 # Commanded vehicle depth:432.19619 # Seafloor depth:-482.196190 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.883873 meters # Minimum depth: 479.933612 meters looking forward 100.000000 meters along route # Maximum depth: 483.660435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 429.933612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.503765; longitude = -118.066965; captureRadius = 10; duration = 105; initialDepth = 429.933612; finalDepth = 432.196190; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.726823 # Actual altitude: 53.726823 # Commanded vehicle depth:429.933612 # Seafloor depth:-483.660435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.49; MB_Bottom_Detect_Filter_Max_Range = 214.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.883505 meters # Minimum depth: 476.196512 meters looking forward 100.000000 meters along route # Maximum depth: 477.551228 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 426.196512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.504080; longitude = -118.065888; captureRadius = 10; duration = 105; initialDepth = 426.196512; finalDepth = 429.933612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.726823 # Actual altitude: 53.726823 # Commanded vehicle depth:426.196512 # Seafloor depth:-477.551228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.49; MB_Bottom_Detect_Filter_Max_Range = 214.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 124.748031 meters # Minimum depth: 476.262513 meters looking forward 100.000000 meters along route # Maximum depth: 476.711665 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 426.262513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.504394; longitude = -118.064812; captureRadius = 10; duration = 124; initialDepth = 426.262513; finalDepth = 426.196512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.354716 # Actual altitude: 51.354716 # Commanded vehicle depth:426.262513 # Seafloor depth:-476.262513 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.42; 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 = 205.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 150.000000 meters # Minimum depth: 473.226086 meters looking forward 100.000000 meters along route # Maximum depth: 475.286133 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 423.226086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.504765; longitude = -118.063544; captureRadius = 10; duration = 150; # abortOnTimeout = True; initialDepth = 423.226086; finalDepth = 426.262513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.060047 # Actual altitude: 52.060047 # Commanded vehicle depth:423.226086 # Seafloor depth:-475.286133 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 19.471140 meters # Minimum depth: 471.991493 meters looking forward 100.000000 meters along route # Maximum depth: 473.226086 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 421.991493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.506042; longitude = -118.064076; captureRadius = 10; duration = 19; # abortOnTimeout = True; initialDepth = 421.991493; finalDepth = 423.226086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.060047 # Actual altitude: 52.060047 # Commanded vehicle depth:421.991493 # Seafloor depth:-471.991493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.881800 meters # Minimum depth: 473.283790 meters looking forward 100.000000 meters along route # Maximum depth: 475.150556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 423.283790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.505985; longitude = -118.064274; captureRadius = 10; duration = 105; initialDepth = 423.283790; finalDepth = 421.991493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:423.28379 # Seafloor depth:-473.283790 # 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 3 # Segment length 105.882167 meters # Minimum depth: 474.914103 meters looking forward 100.000000 meters along route # Maximum depth: 474.926019 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 424.914103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.505670; longitude = -118.065350; captureRadius = 10; duration = 105; initialDepth = 424.914103; finalDepth = 423.283790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:424.914103 # Seafloor depth:-474.914103 # 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 3 # Segment length 105.882534 meters # Minimum depth: 475.273505 meters looking forward 100.000000 meters along route # Maximum depth: 476.863807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 425.273505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.505355; longitude = -118.066426; captureRadius = 10; duration = 105; initialDepth = 425.273505; finalDepth = 424.914103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:425.273505 # Seafloor depth:-475.273505 # 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 3 # Segment length 107.232260 meters # Minimum depth: 479.558481 meters looking forward 100.000000 meters along route # Maximum depth: 480.317259 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 429.558481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.505040; longitude = -118.067503; captureRadius = 10; duration = 107; initialDepth = 429.558481; finalDepth = 425.273505; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.420013 # Actual altitude: 50.420013 # Commanded vehicle depth:429.558481 # Seafloor depth:-479.978494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.68; 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 = 201.68; 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 3 # Segment length 104.533910 meters # Minimum depth: 479.106418 meters looking forward 100.000000 meters along route # Maximum depth: 479.545278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 429.106418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.504722; longitude = -118.068592; captureRadius = 10; duration = 104; initialDepth = 429.106418; finalDepth = 429.558481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.43886 # Actual altitude: 50.43886 # Commanded vehicle depth:429.106418 # Seafloor depth:-479.545278 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.883635 meters # Minimum depth: 480.439422 meters looking forward 100.000000 meters along route # Maximum depth: 485.591921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 430.439422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.504411; longitude = -118.069655; captureRadius = 10; duration = 105; initialDepth = 430.439422; finalDepth = 429.106418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.43886 # Actual altitude: 50.43886 # Commanded vehicle depth:430.439422 # Seafloor depth:-480.439422 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.884003 meters # Minimum depth: 487.978548 meters looking forward 100.000000 meters along route # Maximum depth: 494.076837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.978548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.504096; longitude = -118.070731; captureRadius = 10; duration = 105; initialDepth = 437.978548; finalDepth = 430.439422; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:437.978548 # Seafloor depth:-487.978548 # 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 3 # Segment length 105.884369 meters # Minimum depth: 496.591432 meters looking forward 100.000000 meters along route # Maximum depth: 500.957843 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 446.591432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.503781; longitude = -118.071807; captureRadius = 10; duration = 105; initialDepth = 446.591432; finalDepth = 437.978548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:446.591432 # Seafloor depth:-496.591432 # 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 3 # Segment length 105.884737 meters # Minimum depth: 511.442199 meters looking forward 100.000000 meters along route # Maximum depth: 519.535917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 461.442199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.503467; longitude = -118.072883; captureRadius = 10; duration = 105; initialDepth = 461.442199; finalDepth = 446.591432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:461.442199 # Seafloor depth:-511.442199 # 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 3 # Segment length 105.885104 meters # Minimum depth: 520.655164 meters looking forward 100.000000 meters along route # Maximum depth: 520.728973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 470.655164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.503152; longitude = -118.073960; captureRadius = 10; duration = 105; initialDepth = 470.655164; finalDepth = 461.442199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:470.655164 # Seafloor depth:-520.655164 # 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 3 # Segment length 105.885471 meters # Minimum depth: 518.308172 meters looking forward 100.000000 meters along route # Maximum depth: 520.142988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 468.308172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.502837; longitude = -118.075036; captureRadius = 10; duration = 105; initialDepth = 468.308172; finalDepth = 470.655164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8348159999999 # Actual altitude: 51.8348159999999 # Commanded vehicle depth:468.308172 # Seafloor depth:-520.142988 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 207.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.885838 meters # Minimum depth: 517.101277 meters looking forward 100.000000 meters along route # Maximum depth: 517.946185 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.101277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.502523; longitude = -118.076112; captureRadius = 10; duration = 105; initialDepth = 467.101277; finalDepth = 468.308172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8348159999999 # Actual altitude: 51.8348159999999 # Commanded vehicle depth:467.101277 # Seafloor depth:-517.946185 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 207.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.886205 meters # Minimum depth: 506.166467 meters looking forward 100.000000 meters along route # Maximum depth: 514.173539 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.166467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.502208; longitude = -118.077188; captureRadius = 10; duration = 105; initialDepth = 456.166467; finalDepth = 467.101277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.007072 # Actual altitude: 58.007072 # Commanded vehicle depth:456.166467 # Seafloor depth:-514.173539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.20; MB_Bottom_Detect_Filter_Max_Range = 232.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.886573 meters # Minimum depth: 469.601514 meters looking forward 100.000000 meters along route # Maximum depth: 494.368051 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.601514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.501893; longitude = -118.078264; captureRadius = 10; duration = 105; initialDepth = 419.601514; finalDepth = 456.166467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.766537 # Actual altitude: 74.766537 # Commanded vehicle depth:419.601514 # Seafloor depth:-494.368051 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 299.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.91; MB_Bottom_Detect_Filter_Max_Range = 299.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.886940 meters # Minimum depth: 453.922197 meters looking forward 100.000000 meters along route # Maximum depth: 454.687398 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 403.922197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.501578; longitude = -118.079340; captureRadius = 10; duration = 105; initialDepth = 403.922197; finalDepth = 419.601514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.766537 # Actual altitude: 74.766537 # Commanded vehicle depth:403.922197 # Seafloor depth:-454.687398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 299.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.91; MB_Bottom_Detect_Filter_Max_Range = 299.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.887307 meters # Minimum depth: 454.634961 meters looking forward 100.000000 meters along route # Maximum depth: 456.074345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.634961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.501264; longitude = -118.080417; captureRadius = 10; duration = 105; initialDepth = 404.634961; finalDepth = 403.922197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.765201 # Actual altitude: 50.765201 # Commanded vehicle depth:404.634961 # Seafloor depth:-454.634961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.06; 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 = 203.06; 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 3 # Segment length 105.887674 meters # Minimum depth: 456.104442 meters looking forward 100.000000 meters along route # Maximum depth: 456.507407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 406.104442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.500949; longitude = -118.081493; captureRadius = 10; duration = 105; initialDepth = 406.104442; finalDepth = 404.634961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:406.104442 # Seafloor depth:-456.104442 # 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 3 # Segment length 105.888042 meters # Minimum depth: 456.840931 meters looking forward 100.000000 meters along route # Maximum depth: 457.491913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 406.840931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.500634; longitude = -118.082569; captureRadius = 10; duration = 105; initialDepth = 406.840931; finalDepth = 406.104442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:406.840931 # Seafloor depth:-456.840931 # 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 3 # Segment length 105.888409 meters # Minimum depth: 457.949445 meters looking forward 100.000000 meters along route # Maximum depth: 458.604868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 407.949445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.500319; longitude = -118.083645; captureRadius = 10; duration = 105; initialDepth = 407.949445; finalDepth = 406.840931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:407.949445 # Seafloor depth:-457.949445 # 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 3 # Segment length 105.888777 meters # Minimum depth: 453.837017 meters looking forward 100.000000 meters along route # Maximum depth: 457.876717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 403.837017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.500005; longitude = -118.084721; captureRadius = 10; duration = 105; initialDepth = 403.837017; finalDepth = 407.949445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0397 # Actual altitude: 54.0397 # Commanded vehicle depth:403.837017 # Seafloor depth:-457.876717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.889144 meters # Minimum depth: 447.329625 meters looking forward 100.000000 meters along route # Maximum depth: 449.827968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 397.329625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.499690; longitude = -118.085797; captureRadius = 10; duration = 105; initialDepth = 397.329625; finalDepth = 403.837017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0397 # Actual altitude: 54.0397 # Commanded vehicle depth:397.329625 # Seafloor depth:-449.827968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.889511 meters # Minimum depth: 444.887731 meters looking forward 100.000000 meters along route # Maximum depth: 445.685217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.887731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.499375; longitude = -118.086874; captureRadius = 10; duration = 105; initialDepth = 394.887731; finalDepth = 397.329625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.498343 # Actual altitude: 52.498343 # Commanded vehicle depth:394.887731 # Seafloor depth:-445.685217 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.99; 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 = 209.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.889879 meters # Minimum depth: 440.979255 meters looking forward 100.000000 meters along route # Maximum depth: 443.817260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.979255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.499060; longitude = -118.087950; captureRadius = 10; duration = 105; initialDepth = 390.979255; finalDepth = 394.887731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.838005 # Actual altitude: 52.838005 # Commanded vehicle depth:390.979255 # Seafloor depth:-443.817260 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.14; MB_Bottom_Detect_Filter_Max_Range = 211.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.890247 meters # Minimum depth: 435.955993 meters looking forward 100.000000 meters along route # Maximum depth: 439.717615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.955993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.498746; longitude = -118.089026; captureRadius = 10; duration = 105; initialDepth = 385.955993; finalDepth = 390.979255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.761622 # Actual altitude: 53.761622 # Commanded vehicle depth:385.955993 # Seafloor depth:-439.717615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.50; MB_Bottom_Detect_Filter_Max_Range = 215.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.890613 meters # Minimum depth: 427.720609 meters looking forward 100.000000 meters along route # Maximum depth: 432.016428 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.720609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.498431; longitude = -118.090102; captureRadius = 10; duration = 105; initialDepth = 377.720609; finalDepth = 385.955993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.295819 # Actual altitude: 54.295819 # Commanded vehicle depth:377.720609 # Seafloor depth:-432.016428 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.72; MB_Bottom_Detect_Filter_Max_Range = 217.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.890982 meters # Minimum depth: 423.026716 meters looking forward 100.000000 meters along route # Maximum depth: 424.962496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.026716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.498116; longitude = -118.091178; captureRadius = 10; duration = 105; initialDepth = 373.026716; finalDepth = 377.720609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.295819 # Actual altitude: 54.295819 # Commanded vehicle depth:373.026716 # Seafloor depth:-424.962496 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.72; MB_Bottom_Detect_Filter_Max_Range = 217.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.891349 meters # Minimum depth: 421.145543 meters looking forward 100.000000 meters along route # Maximum depth: 421.814025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.145543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.497802; longitude = -118.092254; captureRadius = 10; duration = 105; initialDepth = 371.145543; finalDepth = 373.026716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.93578 # Actual altitude: 51.93578 # Commanded vehicle depth:371.145543 # Seafloor depth:-421.814025 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.891716 meters # Minimum depth: 419.777934 meters looking forward 100.000000 meters along route # Maximum depth: 420.523753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.777934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.497487; longitude = -118.093331; captureRadius = 10; duration = 105; initialDepth = 369.777934; finalDepth = 371.145543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.745819 # Actual altitude: 50.745819 # Commanded vehicle depth:369.777934 # Seafloor depth:-420.523753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.98; 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 = 202.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.892085 meters # Minimum depth: 419.490943 meters looking forward 100.000000 meters along route # Maximum depth: 419.751543 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.490943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.497172; longitude = -118.094407; captureRadius = 10; duration = 105; initialDepth = 369.490943; finalDepth = 369.777934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.745819 # Actual altitude: 50.745819 # Commanded vehicle depth:369.490943 # Seafloor depth:-419.751543 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.98; 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 = 202.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.892451 meters # Minimum depth: 419.714796 meters looking forward 100.000000 meters along route # Maximum depth: 419.779802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.714796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.496857; longitude = -118.095483; captureRadius = 10; duration = 105; initialDepth = 369.714796; finalDepth = 369.490943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2606 # Actual altitude: 50.2606 # Commanded vehicle depth:369.714796 # Seafloor depth:-419.714796 # 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 3 # Segment length 105.892820 meters # Minimum depth: 419.810943 meters looking forward 100.000000 meters along route # Maximum depth: 420.103526 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.810943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.496543; longitude = -118.096559; captureRadius = 10; duration = 105; initialDepth = 369.810943; finalDepth = 369.714796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:369.810943 # Seafloor depth:-419.810943 # 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 3 # Segment length 105.893187 meters # Minimum depth: 420.330488 meters looking forward 100.000000 meters along route # Maximum depth: 420.701337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.330488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.496228; longitude = -118.097635; captureRadius = 10; duration = 105; initialDepth = 370.330488; finalDepth = 369.810943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:370.330488 # Seafloor depth:-420.330488 # 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 3 # Segment length 105.893555 meters # Minimum depth: 420.991160 meters looking forward 100.000000 meters along route # Maximum depth: 421.340724 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.991160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.495913; longitude = -118.098711; captureRadius = 10; duration = 105; initialDepth = 370.991160; finalDepth = 370.330488; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:370.99116 # Seafloor depth:-420.991160 # 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 3 # Segment length 105.893922 meters # Minimum depth: 421.727727 meters looking forward 100.000000 meters along route # Maximum depth: 422.239502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.727727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.495598; longitude = -118.099788; captureRadius = 10; duration = 105; initialDepth = 371.727727; finalDepth = 370.991160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:371.727727 # Seafloor depth:-421.727727 # 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 3 # Segment length 121.860978 meters # Minimum depth: 422.786255 meters looking forward 100.000000 meters along route # Maximum depth: 423.515006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.786255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.495284; longitude = -118.100864; captureRadius = 10; duration = 121; initialDepth = 372.786255; finalDepth = 371.727727; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:372.786255 # Seafloor depth:-422.786255 # 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 2 # Segment length 13.459010 meters # Minimum depth: 423.185009 meters looking forward 100.000000 meters along route # Maximum depth: 424.045837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.185009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.494922; longitude = -118.102102; captureRadius = 10; duration = 13; # abortOnTimeout = True; initialDepth = 373.185009; finalDepth = 372.786255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.860828 # Actual altitude: 50.860828 # Commanded vehicle depth:373.185009 # Seafloor depth:-424.045837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.44; 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 = 203.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.540990 meters # Minimum depth: 420.013418 meters looking forward 100.000000 meters along route # Maximum depth: 423.297086 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 370.013418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.495036; longitude = -118.102150; captureRadius = 10; duration = 136; initialDepth = 370.013418; finalDepth = 373.185009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.283668 # Actual altitude: 53.283668 # Commanded vehicle depth:370.013418 # Seafloor depth:-423.297086 # behavior reson { duration = 6; SBP_Power = 0.0; 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 to get to end of line 1 # Segment length 15.408865 meters # Minimum depth: 418.986526 meters looking forward 100.000000 meters along route # Maximum depth: 421.815589 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.986526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.496199; longitude = -118.102635; captureRadius = 10; duration = 15; # abortOnTimeout = True; initialDepth = 368.986526; finalDepth = 370.013418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.283668 # Actual altitude: 53.283668 # Commanded vehicle depth:368.986526 # Seafloor depth:-418.986526 # 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 1 # Segment length 105.892953 meters # Minimum depth: 419.027588 meters looking forward 100.000000 meters along route # Maximum depth: 419.549191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.027588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.496244; longitude = -118.102478; captureRadius = 10; duration = 105; initialDepth = 369.027588; finalDepth = 368.986526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.521603 # Actual altitude: 50.521603 # Commanded vehicle depth:369.027588 # Seafloor depth:-419.549191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.892585 meters # Minimum depth: 418.275122 meters looking forward 100.000000 meters along route # Maximum depth: 418.554573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.275122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.496559; longitude = -118.101402; captureRadius = 10; duration = 105; initialDepth = 368.275122; finalDepth = 369.027588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.521603 # Actual altitude: 50.521603 # Commanded vehicle depth:368.275122 # Seafloor depth:-418.554573 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.892217 meters # Minimum depth: 417.076823 meters looking forward 100.000000 meters along route # Maximum depth: 417.935872 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 367.076823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.496874; longitude = -118.100326; captureRadius = 10; duration = 105; initialDepth = 367.076823; finalDepth = 368.275122; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.859049 # Actual altitude: 50.859049 # Commanded vehicle depth:367.076823 # Seafloor depth:-417.935872 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.44; 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 = 203.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.891850 meters # Minimum depth: 416.587540 meters looking forward 100.000000 meters along route # Maximum depth: 417.076455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 366.587540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.497189; longitude = -118.099249; captureRadius = 10; duration = 105; initialDepth = 366.587540; finalDepth = 367.076823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.859049 # Actual altitude: 50.859049 # Commanded vehicle depth:366.58754 # Seafloor depth:-417.076455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.44; 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 = 203.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.891482 meters # Minimum depth: 416.232117 meters looking forward 100.000000 meters along route # Maximum depth: 416.248549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 366.232117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.497503; longitude = -118.098173; captureRadius = 10; duration = 105; initialDepth = 366.232117; finalDepth = 366.587540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.488915 # Actual altitude: 50.488915 # Commanded vehicle depth:366.232117 # Seafloor depth:-416.248549 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.96; 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 = 201.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.891114 meters # Minimum depth: 416.282346 meters looking forward 100.000000 meters along route # Maximum depth: 416.286887 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 366.282346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.497818; longitude = -118.097097; captureRadius = 10; duration = 105; initialDepth = 366.282346; finalDepth = 366.232117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.016432 # Actual altitude: 50.016432 # Commanded vehicle depth:366.282346 # Seafloor depth:-416.282346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.07; 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 = 200.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.890746 meters # Minimum depth: 416.251346 meters looking forward 100.000000 meters along route # Maximum depth: 416.584572 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 366.251346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.498133; longitude = -118.096021; captureRadius = 10; duration = 105; initialDepth = 366.251346; finalDepth = 366.282346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:366.251346 # Seafloor depth:-416.251346 # 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 1 # Segment length 105.890379 meters # Minimum depth: 416.840507 meters looking forward 100.000000 meters along route # Maximum depth: 417.208674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 366.840507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.498448; longitude = -118.094945; captureRadius = 10; duration = 105; initialDepth = 366.840507; finalDepth = 366.251346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:366.840507 # Seafloor depth:-416.840507 # 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 1 # Segment length 105.890011 meters # Minimum depth: 417.813947 meters looking forward 100.000000 meters along route # Maximum depth: 418.588399 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 367.813947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.498762; longitude = -118.093869; captureRadius = 10; duration = 105; initialDepth = 367.813947; finalDepth = 366.840507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:367.813947 # Seafloor depth:-417.813947 # 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 1 # Segment length 105.889644 meters # Minimum depth: 419.795501 meters looking forward 100.000000 meters along route # Maximum depth: 422.879498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.795501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.499077; longitude = -118.092792; captureRadius = 10; duration = 105; initialDepth = 369.795501; finalDepth = 367.813947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:369.795501 # Seafloor depth:-419.795501 # 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 1 # Segment length 105.889276 meters # Minimum depth: 423.742392 meters looking forward 100.000000 meters along route # Maximum depth: 427.297638 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.742392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.499392; longitude = -118.091716; captureRadius = 10; duration = 105; initialDepth = 373.742392; finalDepth = 369.795501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:373.742392 # Seafloor depth:-423.742392 # 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 1 # Segment length 105.888909 meters # Minimum depth: 430.944144 meters looking forward 100.000000 meters along route # Maximum depth: 434.715473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.944144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.499706; longitude = -118.090640; captureRadius = 10; duration = 105; initialDepth = 380.944144; finalDepth = 373.742392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:380.944144 # Seafloor depth:-430.944144 # 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 1 # Segment length 105.888541 meters # Minimum depth: 438.037520 meters looking forward 100.000000 meters along route # Maximum depth: 440.476885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.037520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.500021; longitude = -118.089564; captureRadius = 10; duration = 105; initialDepth = 388.037520; finalDepth = 380.944144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:388.03752 # Seafloor depth:-438.037520 # 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 1 # Segment length 105.888173 meters # Minimum depth: 441.764846 meters looking forward 100.000000 meters along route # Maximum depth: 442.367685 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 391.764846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.500336; longitude = -118.088488; captureRadius = 10; duration = 105; initialDepth = 391.764846; finalDepth = 388.037520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:391.764846 # Seafloor depth:-441.764846 # 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 1 # Segment length 105.887807 meters # Minimum depth: 443.410901 meters looking forward 100.000000 meters along route # Maximum depth: 445.947798 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.410901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.500651; longitude = -118.087412; captureRadius = 10; duration = 105; initialDepth = 393.410901; finalDepth = 391.764846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:393.410901 # Seafloor depth:-443.410901 # 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 1 # Segment length 105.887438 meters # Minimum depth: 446.051284 meters looking forward 100.000000 meters along route # Maximum depth: 448.471892 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.051284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.500965; longitude = -118.086336; captureRadius = 10; duration = 105; initialDepth = 396.051284; finalDepth = 393.410901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:396.051284 # Seafloor depth:-446.051284 # 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 1 # Segment length 105.887072 meters # Minimum depth: 451.960704 meters looking forward 100.000000 meters along route # Maximum depth: 455.288991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.960704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.501280; longitude = -118.085259; captureRadius = 10; duration = 105; initialDepth = 401.960704; finalDepth = 396.051284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:401.960704 # Seafloor depth:-451.960704 # 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 1 # Segment length 105.886704 meters # Minimum depth: 454.994109 meters looking forward 100.000000 meters along route # Maximum depth: 455.629366 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.994109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.501595; longitude = -118.084183; captureRadius = 10; duration = 105; initialDepth = 404.994109; finalDepth = 401.960704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.635257 # Actual altitude: 50.635257 # Commanded vehicle depth:404.994109 # Seafloor depth:-455.629366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.886336 meters # Minimum depth: 454.017055 meters looking forward 100.000000 meters along route # Maximum depth: 454.249006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.017055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.501910; longitude = -118.083107; captureRadius = 10; duration = 105; initialDepth = 404.017055; finalDepth = 404.994109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.635257 # Actual altitude: 50.635257 # Commanded vehicle depth:404.017055 # Seafloor depth:-454.249006 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.885969 meters # Minimum depth: 453.524217 meters looking forward 100.000000 meters along route # Maximum depth: 453.577196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 403.524217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.502224; longitude = -118.082031; captureRadius = 10; duration = 105; initialDepth = 403.524217; finalDepth = 404.017055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.231951 # Actual altitude: 50.231951 # Commanded vehicle depth:403.524217 # Seafloor depth:-453.577196 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.885602 meters # Minimum depth: 452.231056 meters looking forward 100.000000 meters along route # Maximum depth: 453.275021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 402.231056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.502539; longitude = -118.080955; captureRadius = 10; duration = 105; initialDepth = 402.231056; finalDepth = 403.524217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.043965 # Actual altitude: 51.043965 # Commanded vehicle depth:402.231056 # Seafloor depth:-453.275021 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.18; 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 = 204.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.885235 meters # Minimum depth: 451.036403 meters looking forward 100.000000 meters along route # Maximum depth: 464.715071 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.036403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.502854; longitude = -118.079879; captureRadius = 10; duration = 105; initialDepth = 401.036403; finalDepth = 402.231056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.043965 # Actual altitude: 51.043965 # Commanded vehicle depth:401.036403 # Seafloor depth:-451.036403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.18; 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 = 204.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.884867 meters # Minimum depth: 472.542851 meters looking forward 100.000000 meters along route # Maximum depth: 498.089599 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 422.542851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.503169; longitude = -118.078802; captureRadius = 10; duration = 105; initialDepth = 422.542851; finalDepth = 401.036403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:422.542851 # Seafloor depth:-472.542851 # 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 1 # Segment length 105.884500 meters # Minimum depth: 510.507353 meters looking forward 100.000000 meters along route # Maximum depth: 514.842968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 460.507353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.503483; longitude = -118.077726; captureRadius = 10; duration = 105; initialDepth = 460.507353; finalDepth = 422.542851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:460.507353 # Seafloor depth:-510.507353 # 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 1 # Segment length 105.884133 meters # Minimum depth: 516.104386 meters looking forward 100.000000 meters along route # Maximum depth: 517.129905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.104386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.503798; longitude = -118.076650; captureRadius = 10; duration = 105; initialDepth = 466.104386; finalDepth = 460.507353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:466.104386 # Seafloor depth:-516.104386 # 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 1 # Segment length 105.883766 meters # Minimum depth: 517.594230 meters looking forward 100.000000 meters along route # Maximum depth: 517.736190 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.594230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.504113; longitude = -118.075574; captureRadius = 10; duration = 105; initialDepth = 467.594230; finalDepth = 466.104386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:467.59423 # Seafloor depth:-517.594230 # 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 1 # Segment length 105.883398 meters # Minimum depth: 506.970917 meters looking forward 100.000000 meters along route # Maximum depth: 517.524100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.970917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.504427; longitude = -118.074498; captureRadius = 10; duration = 105; initialDepth = 456.970917; finalDepth = 467.594230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.553183 # Actual altitude: 60.553183 # Commanded vehicle depth:456.970917 # Seafloor depth:-517.524100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.22; MB_Bottom_Detect_Filter_Max_Range = 242.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.883032 meters # Minimum depth: 493.947495 meters looking forward 100.000000 meters along route # Maximum depth: 505.448179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.947495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.504742; longitude = -118.073422; captureRadius = 10; duration = 105; initialDepth = 443.947495; finalDepth = 456.970917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.500684 # Actual altitude: 61.500684 # Commanded vehicle depth:443.947495 # Seafloor depth:-505.448179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.60; MB_Bottom_Detect_Filter_Max_Range = 246.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 184.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.882664 meters # Minimum depth: 490.247963 meters looking forward 100.000000 meters along route # Maximum depth: 491.633138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 440.247963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.505057; longitude = -118.072345; captureRadius = 10; duration = 105; initialDepth = 440.247963; finalDepth = 443.947495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.500684 # Actual altitude: 61.500684 # Commanded vehicle depth:440.247963 # Seafloor depth:-491.633138 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.60; MB_Bottom_Detect_Filter_Max_Range = 246.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 184.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.882297 meters # Minimum depth: 483.601811 meters looking forward 100.000000 meters along route # Maximum depth: 489.889686 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 433.601811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.505372; longitude = -118.071269; captureRadius = 10; duration = 105; initialDepth = 433.601811; finalDepth = 440.247963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.287875 # Actual altitude: 56.287875 # Commanded vehicle depth:433.601811 # Seafloor depth:-489.889686 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.52; MB_Bottom_Detect_Filter_Max_Range = 225.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.881930 meters # Minimum depth: 474.842829 meters looking forward 100.000000 meters along route # Maximum depth: 475.986098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 424.842829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.505686; longitude = -118.070193; captureRadius = 10; duration = 105; initialDepth = 424.842829; finalDepth = 433.601811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.287875 # Actual altitude: 56.287875 # Commanded vehicle depth:424.842829 # Seafloor depth:-475.986098 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.52; MB_Bottom_Detect_Filter_Max_Range = 225.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.881563 meters # Minimum depth: 474.954275 meters looking forward 100.000000 meters along route # Maximum depth: 475.500795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 424.954275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.506001; longitude = -118.069117; captureRadius = 10; duration = 105; initialDepth = 424.954275; finalDepth = 424.842829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.143269 # Actual altitude: 51.143269 # Commanded vehicle depth:424.954275 # Seafloor depth:-474.954275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.881196 meters # Minimum depth: 473.535611 meters looking forward 100.000000 meters along route # Maximum depth: 475.252299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 423.535611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.506316; longitude = -118.068041; captureRadius = 10; duration = 105; initialDepth = 423.535611; finalDepth = 424.954275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.716688 # Actual altitude: 51.716688 # Commanded vehicle depth:423.535611 # Seafloor depth:-475.252299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.880829 meters # Minimum depth: 472.603378 meters looking forward 100.000000 meters along route # Maximum depth: 472.766542 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 422.603378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.506631; longitude = -118.066965; captureRadius = 10; duration = 105; initialDepth = 422.603378; finalDepth = 423.535611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.716688 # Actual altitude: 51.716688 # Commanded vehicle depth:422.603378 # Seafloor depth:-472.766542 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 125.956251 meters # Minimum depth: 469.222042 meters looking forward 100.000000 meters along route # Maximum depth: 472.841979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.222042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.506945; longitude = -118.065888; captureRadius = 10; duration = 125; initialDepth = 419.222042; finalDepth = 422.603378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.619937 # Actual altitude: 53.619937 # Commanded vehicle depth:419.222042 # Seafloor depth:-472.841979 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.45; MB_Bottom_Detect_Filter_Max_Range = 214.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.86; 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: 53.619937 # Actual altitude: 53.619937 # Commanded vehicle depth:418.839699 # Seafloor depth:-468.839699 # 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 = 214.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.45; MB_Bottom_Detect_Filter_Max_Range = 214.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 500.000000 meters # Minimum depth: 468.839699 meters looking forward 100.000000 meters along route # Maximum depth: 471.862264 meters looking forward 100.000000 meters along route # Vehicle depth: 418.839699 meters behavior waypoint { latitude = 33.507320; longitude = -118.064608; captureRadius = 10; duration = 500; depth = 418.839699; speed = 1.500000; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 418.839699 meters set by local depth and desired altitude #zero speed setpoint to get navigation updates behavior setpoint { duration = 180; heading = 270.0; speed = 0.0; verticalMode = pitch; pitch = 0; } behavior descend { duration = 1349; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; minAltitude = 50.000000; } # # Waypoint behavior to get to start of line 1 # Segment length 500.000000 meters # Minimum depth: 468.839699 meters looking forward 100.000000 meters along route # Maximum depth: 471.862264 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 33.507320; longitude = -118.064608; captureRadius = 10; duration = 500; depth = 50.000000; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 90.0; 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 = 90.0; 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; } # ####################################################### #######################################################