# 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_2v1.rte # Mission File: 20070713MAUV_2.cfg # Distance: 43520.893163 (m) # Estimated Time: 31754 (s) 8.821 (hr) # Abort Time: 33111 (s) # set to 8.75 hours = 31500 sec # Max battery life: 36000 (s) # Safety margin: 1800 (s) # Ascend time: 1088 (s) # Way Points: 25 # Route Points: 381 # 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 -118.064444 33.493973 -501.121552 0.000000 3 # 1 -118.059073 33.464186 -548.631999 3340.304555 4 # 2 -118.060687 33.463648 -542.876953 3501.753576 3 # 3 -118.066040 33.493771 -504.388550 6878.656691 4 # 4 -118.067637 33.493569 -513.863846 7028.656691 3 # 5 -118.061719 33.460745 -544.377777 10709.467270 4 # 6 -118.063315 33.460543 -586.642838 10859.467270 3 # 7 -118.069233 33.493366 -539.134811 14540.277848 4 # 8 -118.070830 33.493164 -536.658493 14690.277848 3 # 9 -118.064911 33.460341 -594.897003 18371.088427 4 # 10 -118.066507 33.460139 -592.591064 18521.088427 3 # 11 -118.072426 33.492962 -534.265625 22201.899006 4 # 12 -118.074023 33.492760 -525.806931 22351.899006 3 # 13 -118.068103 33.459937 -582.660309 26032.709585 4 # 14 -118.069699 33.459735 -566.688400 26182.709585 3 # 15 -118.075619 33.492558 -506.048615 29863.520163 4 # 16 -118.077215 33.492355 -507.731842 30013.520163 3 # 17 -118.071294 33.459533 -560.719269 33694.330742 4 # 18 -118.072890 33.459330 -555.493912 33844.330742 3 # 19 -118.078812 33.492153 -509.013397 37525.141321 4 # 20 -118.080237 33.491449 -508.291992 37678.881379 1 # 21 -118.078484 33.481004 -496.675972 38848.474813 3 # 22 -118.060824 33.483240 -495.868652 40508.011550 4 # 23 -118.059252 33.475306 -509.035807 41399.765141 3 # 24 -118.081851 33.472616 -528.877116 43520.893163 4 # # A total of 381 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 = 1088; 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 24 # Segment length 84.173180 meters # Minimum depth: 528.783061 meters looking forward 100.000000 meters along route # Maximum depth: 528.877116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.783061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.472616; longitude = -118.081851; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 478.783061; finalDepth = 478.783061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.094055 # Actual altitude: 50.094055 # Commanded vehicle depth:478.783061 # Seafloor depth:-528.877116 # 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 24 # Segment length 101.007659 meters # Minimum depth: 528.660822 meters looking forward 100.000000 meters along route # Maximum depth: 528.782105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.660822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.472723; longitude = -118.080955; captureRadius = 10; duration = 101; initialDepth = 478.660822; finalDepth = 478.783061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1212829999999 # Actual altitude: 50.1212829999999 # Commanded vehicle depth:478.660822 # Seafloor depth:-528.782105 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.49; 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 = 200.49; 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 during line 24 # Segment length 101.007489 meters # Minimum depth: 527.198010 meters looking forward 100.000000 meters along route # Maximum depth: 528.171704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 477.198010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.472851; longitude = -118.079879; captureRadius = 10; duration = 101; initialDepth = 477.198010; finalDepth = 478.660822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.973694 # Actual altitude: 50.973694 # Commanded vehicle depth:477.19801 # Seafloor depth:-528.171704 # 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 24 # Segment length 101.007319 meters # Minimum depth: 527.058076 meters looking forward 100.000000 meters along route # Maximum depth: 527.175188 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 477.058076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.472979; longitude = -118.078802; captureRadius = 10; duration = 101; initialDepth = 477.058076; finalDepth = 477.198010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.973694 # Actual altitude: 50.973694 # Commanded vehicle depth:477.058076 # Seafloor depth:-527.175188 # 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 24 # Segment length 101.007147 meters # Minimum depth: 526.321347 meters looking forward 100.000000 meters along route # Maximum depth: 526.551732 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.321347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.473107; longitude = -118.077726; captureRadius = 10; duration = 101; initialDepth = 476.321347; finalDepth = 477.058076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2303850000001 # Actual altitude: 50.2303850000001 # Commanded vehicle depth:476.321347 # Seafloor depth:-526.551732 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.92; 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 = 200.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 101.006977 meters # Minimum depth: 524.898721 meters looking forward 100.000000 meters along route # Maximum depth: 525.620926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 474.898721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.473235; longitude = -118.076650; captureRadius = 10; duration = 101; initialDepth = 474.898721; finalDepth = 476.321347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.722205 # Actual altitude: 50.722205 # Commanded vehicle depth:474.898721 # Seafloor depth:-525.620926 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.89; 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 = 202.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 101.006807 meters # Minimum depth: 522.972905 meters looking forward 100.000000 meters along route # Maximum depth: 523.821594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.972905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.473363; longitude = -118.075574; captureRadius = 10; duration = 101; initialDepth = 472.972905; finalDepth = 474.898721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.848689 # Actual altitude: 50.848689 # Commanded vehicle depth:472.972905 # Seafloor depth:-523.821594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.39; 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 = 203.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 101.006635 meters # Minimum depth: 521.486885 meters looking forward 100.000000 meters along route # Maximum depth: 522.363111 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.486885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.473491; longitude = -118.074498; captureRadius = 10; duration = 101; initialDepth = 471.486885; finalDepth = 472.972905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.876226 # Actual altitude: 50.876226 # Commanded vehicle depth:471.486885 # Seafloor depth:-522.363111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.50; 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 = 203.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 101.006466 meters # Minimum depth: 519.403811 meters looking forward 100.000000 meters along route # Maximum depth: 520.803645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 469.403811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.473620; longitude = -118.073422; captureRadius = 10; duration = 101; initialDepth = 469.403811; finalDepth = 471.486885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3998339999999 # Actual altitude: 51.3998339999999 # Commanded vehicle depth:469.403811 # Seafloor depth:-520.803645 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.56; MB_Bottom_Detect_Filter_Max_Range = 205.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 101.006294 meters # Minimum depth: 517.625509 meters looking forward 100.000000 meters along route # Maximum depth: 518.418123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.625509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.473748; longitude = -118.072345; captureRadius = 10; duration = 101; initialDepth = 467.625509; finalDepth = 469.403811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3998339999999 # Actual altitude: 51.3998339999999 # Commanded vehicle depth:467.625509 # Seafloor depth:-518.418123 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.56; MB_Bottom_Detect_Filter_Max_Range = 205.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 101.006125 meters # Minimum depth: 517.295195 meters looking forward 100.000000 meters along route # Maximum depth: 524.172112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.295195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.473876; longitude = -118.071269; captureRadius = 10; duration = 101; initialDepth = 467.295195; finalDepth = 467.625509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7926140000001 # Actual altitude: 50.7926140000001 # Commanded vehicle depth:467.295195 # Seafloor depth:-517.295195 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.17; 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 = 203.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 101.005953 meters # Minimum depth: 550.838851 meters looking forward 100.000000 meters along route # Maximum depth: 567.339796 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.838851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.474004; longitude = -118.070193; captureRadius = 10; duration = 101; initialDepth = 500.838851; finalDepth = 467.295195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:500.838851 # Seafloor depth:-550.838851 # 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 101.005784 meters # Minimum depth: 572.495554 meters looking forward 100.000000 meters along route # Maximum depth: 573.640749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.495554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.474132; longitude = -118.069117; captureRadius = 10; duration = 101; initialDepth = 522.495554; finalDepth = 500.838851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:522.495554 # Seafloor depth:-572.495554 # 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 101.005613 meters # Minimum depth: 572.563681 meters looking forward 100.000000 meters along route # Maximum depth: 572.659064 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.563681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.474260; longitude = -118.068041; captureRadius = 10; duration = 101; initialDepth = 522.563681; finalDepth = 522.495554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.095383 # Actual altitude: 50.095383 # Commanded vehicle depth:522.563681 # Seafloor depth:-572.659064 # 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 = 150.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 101.005442 meters # Minimum depth: 571.602648 meters looking forward 100.000000 meters along route # Maximum depth: 571.954457 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.602648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.474388; longitude = -118.066965; captureRadius = 10; duration = 101; initialDepth = 521.602648; finalDepth = 522.563681; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.351809 # Actual altitude: 50.351809 # Commanded vehicle depth:521.602648 # Seafloor depth:-571.954457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.41; 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 = 201.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 101.005272 meters # Minimum depth: 570.192773 meters looking forward 100.000000 meters along route # Maximum depth: 571.080019 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.192773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.474516; longitude = -118.065888; captureRadius = 10; duration = 101; initialDepth = 520.192773; finalDepth = 521.602648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.887246 # Actual altitude: 50.887246 # Commanded vehicle depth:520.192773 # Seafloor depth:-571.080019 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.55; 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 = 203.55; 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 24 # Segment length 101.005102 meters # Minimum depth: 563.944099 meters looking forward 100.000000 meters along route # Maximum depth: 568.870327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.944099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.474644; longitude = -118.064812; captureRadius = 10; duration = 101; initialDepth = 513.944099; finalDepth = 520.192773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9262279999999 # Actual altitude: 54.9262279999999 # Commanded vehicle depth:513.944099 # Seafloor depth:-568.870327 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.97; MB_Bottom_Detect_Filter_Max_Range = 219.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 101.004932 meters # Minimum depth: 541.495509 meters looking forward 100.000000 meters along route # Maximum depth: 554.816459 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 491.495509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.474773; longitude = -118.063736; captureRadius = 10; duration = 101; initialDepth = 491.495509; finalDepth = 513.944099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.32095 # Actual altitude: 63.32095 # Commanded vehicle depth:491.495509 # Seafloor depth:-554.816459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.33; MB_Bottom_Detect_Filter_Max_Range = 253.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 189.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 101.004761 meters # Minimum depth: 512.159213 meters looking forward 100.000000 meters along route # Maximum depth: 525.691303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.159213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.474901; longitude = -118.062660; captureRadius = 10; duration = 101; initialDepth = 462.159213; finalDepth = 491.495509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.5320899999999 # Actual altitude: 63.5320899999999 # Commanded vehicle depth:462.159213 # Seafloor depth:-525.691303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.41; MB_Bottom_Detect_Filter_Max_Range = 254.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 101.004591 meters # Minimum depth: 509.565509 meters looking forward 100.000000 meters along route # Maximum depth: 510.233245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.565509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.475029; longitude = -118.061584; captureRadius = 10; duration = 101; initialDepth = 459.565509; finalDepth = 462.159213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.5320899999999 # Actual altitude: 63.5320899999999 # Commanded vehicle depth:459.565509 # Seafloor depth:-510.233245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.41; MB_Bottom_Detect_Filter_Max_Range = 254.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 117.838474 meters # Minimum depth: 509.043806 meters looking forward 100.000000 meters along route # Maximum depth: 509.200448 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.043806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.475157; longitude = -118.060508; captureRadius = 10; duration = 117; initialDepth = 459.043806; finalDepth = 459.565509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.667736 # Actual altitude: 50.667736 # Commanded vehicle depth:459.043806 # Seafloor depth:-509.200448 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 40.320511 meters # Minimum depth: 509.035807 meters looking forward 100.000000 meters along route # Maximum depth: 509.043806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.035807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.475306; longitude = -118.059252; captureRadius = 10; duration = 40; # abortOnTimeout = True; initialDepth = 459.035807; finalDepth = 459.043806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.156642 # Actual altitude: 50.156642 # Commanded vehicle depth:459.035807 # Seafloor depth:-509.035807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.63; 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 = 200.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 120.961522 meters # Minimum depth: 506.564357 meters looking forward 100.000000 meters along route # Maximum depth: 508.568464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.564357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.475665; longitude = -118.059323; captureRadius = 10; duration = 120; initialDepth = 456.564357; finalDepth = 459.035807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.004107 # Actual altitude: 52.004107 # Commanded vehicle depth:456.564357 # Seafloor depth:-508.568464 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 208.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 120.961509 meters # Minimum depth: 504.793902 meters looking forward 100.000000 meters along route # Maximum depth: 504.862201 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.793902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.476741; longitude = -118.059536; captureRadius = 10; duration = 120; initialDepth = 454.793902; finalDepth = 456.564357; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.004107 # Actual altitude: 52.004107 # Commanded vehicle depth:454.793902 # Seafloor depth:-504.862201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 208.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 124.686174 meters # Minimum depth: 504.519765 meters looking forward 100.000000 meters along route # Maximum depth: 506.308878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.519765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.477817; longitude = -118.059750; captureRadius = 10; duration = 124; initialDepth = 454.519765; finalDepth = 454.793902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.524542 # Actual altitude: 51.524542 # Commanded vehicle depth:454.519765 # Seafloor depth:-506.044307 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.10; 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 = 206.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 117.236800 meters # Minimum depth: 501.549336 meters looking forward 100.000000 meters along route # Maximum depth: 504.342665 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 451.549336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.478927; longitude = -118.059969; captureRadius = 10; duration = 117; initialDepth = 451.549336; finalDepth = 454.519765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.793329 # Actual altitude: 52.793329 # Commanded vehicle depth:451.549336 # Seafloor depth:-504.342665 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 120.961466 meters # Minimum depth: 496.907084 meters looking forward 100.000000 meters along route # Maximum depth: 499.135033 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 446.907084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.479970; longitude = -118.060176; captureRadius = 10; duration = 120; initialDepth = 446.907084; finalDepth = 451.549336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.793329 # Actual altitude: 52.793329 # Commanded vehicle depth:446.907084 # Seafloor depth:-499.135033 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 120.961452 meters # Minimum depth: 495.610146 meters looking forward 100.000000 meters along route # Maximum depth: 496.013873 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.610146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.481046; longitude = -118.060389; captureRadius = 10; duration = 120; initialDepth = 445.610146; finalDepth = 446.907084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.227949 # Actual altitude: 52.227949 # Commanded vehicle depth:445.610146 # Seafloor depth:-496.013873 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.91; 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 = 208.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 125.664157 meters # Minimum depth: 495.229638 meters looking forward 100.000000 meters along route # Maximum depth: 495.677150 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.229638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.482122; longitude = -118.060603; captureRadius = 10; duration = 125; initialDepth = 445.229638; finalDepth = 445.610146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.403727 # Actual altitude: 50.403727 # Commanded vehicle depth:445.229638 # Seafloor depth:-495.229638 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.61; 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 = 201.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 20.803822 meters # Minimum depth: 495.272256 meters looking forward 100.000000 meters along route # Maximum depth: 495.868652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.272256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.483240; longitude = -118.060824; captureRadius = 10; duration = 20; # abortOnTimeout = True; initialDepth = 445.272256; finalDepth = 445.229638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.596396 # Actual altitude: 50.596396 # Commanded vehicle depth:445.272256 # Seafloor depth:-495.868652 # 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 22 # Segment length 101.126893 meters # Minimum depth: 495.914140 meters looking forward 100.000000 meters along route # Maximum depth: 496.719079 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.914140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.483212; longitude = -118.061046; captureRadius = 10; duration = 101; initialDepth = 445.914140; finalDepth = 445.272256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.596396 # Actual altitude: 50.596396 # Commanded vehicle depth:445.91414 # Seafloor depth:-495.914140 # 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 22 # Segment length 101.127072 meters # Minimum depth: 497.855565 meters looking forward 100.000000 meters along route # Maximum depth: 505.416988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 447.855565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.483076; longitude = -118.062122; captureRadius = 10; duration = 101; initialDepth = 447.855565; finalDepth = 445.914140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:447.855565 # Seafloor depth:-497.855565 # 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 101.127251 meters # Minimum depth: 528.553906 meters looking forward 100.000000 meters along route # Maximum depth: 536.343802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.553906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.482940; longitude = -118.063198; captureRadius = 10; duration = 101; initialDepth = 478.553906; finalDepth = 447.855565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:478.553906 # Seafloor depth:-528.553906 # 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 101.127431 meters # Minimum depth: 535.680113 meters looking forward 100.000000 meters along route # Maximum depth: 536.428976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.680113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.482803; longitude = -118.064274; captureRadius = 10; duration = 101; initialDepth = 485.680113; finalDepth = 478.553906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:485.680113 # Seafloor depth:-535.680113 # 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 101.127611 meters # Minimum depth: 544.481521 meters looking forward 100.000000 meters along route # Maximum depth: 556.466429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.481521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.482667; longitude = -118.065350; captureRadius = 10; duration = 101; initialDepth = 494.481521; finalDepth = 485.680113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:494.481521 # Seafloor depth:-544.481521 # 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 101.127790 meters # Minimum depth: 558.791620 meters looking forward 100.000000 meters along route # Maximum depth: 559.347583 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.791620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.482531; longitude = -118.066426; captureRadius = 10; duration = 101; initialDepth = 508.791620; finalDepth = 494.481521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:508.79162 # Seafloor depth:-558.791620 # 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 101.127969 meters # Minimum depth: 559.912416 meters looking forward 100.000000 meters along route # Maximum depth: 560.265399 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.912416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.482394; longitude = -118.067503; captureRadius = 10; duration = 101; initialDepth = 509.912416; finalDepth = 508.791620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:509.912416 # Seafloor depth:-559.912416 # 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 101.128149 meters # Minimum depth: 558.391910 meters looking forward 100.000000 meters along route # Maximum depth: 560.506763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.391910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.482258; longitude = -118.068579; captureRadius = 10; duration = 101; initialDepth = 508.391910; finalDepth = 509.912416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1148529999999 # Actual altitude: 52.1148529999999 # Commanded vehicle depth:508.39191 # Seafloor depth:-560.506763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 208.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.128329 meters # Minimum depth: 556.711783 meters looking forward 100.000000 meters along route # Maximum depth: 558.385084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.711783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.482122; longitude = -118.069655; captureRadius = 10; duration = 101; initialDepth = 506.711783; finalDepth = 508.391910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1148529999999 # Actual altitude: 52.1148529999999 # Commanded vehicle depth:506.711783 # Seafloor depth:-558.385084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 208.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.128509 meters # Minimum depth: 553.675528 meters looking forward 100.000000 meters along route # Maximum depth: 555.128446 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.675528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.481986; longitude = -118.070731; captureRadius = 10; duration = 101; initialDepth = 503.675528; finalDepth = 506.711783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.673301 # Actual altitude: 51.673301 # Commanded vehicle depth:503.675528 # Seafloor depth:-555.128446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.69; 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 = 206.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.128688 meters # Minimum depth: 546.834711 meters looking forward 100.000000 meters along route # Maximum depth: 552.049993 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.834711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.481849; longitude = -118.071807; captureRadius = 10; duration = 101; initialDepth = 496.834711; finalDepth = 503.675528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.215282 # Actual altitude: 55.215282 # Commanded vehicle depth:496.834711 # Seafloor depth:-552.049993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.09; MB_Bottom_Detect_Filter_Max_Range = 220.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.128868 meters # Minimum depth: 504.386493 meters looking forward 100.000000 meters along route # Maximum depth: 523.928271 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.386493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.481713; longitude = -118.072883; captureRadius = 10; duration = 101; initialDepth = 454.386493; finalDepth = 496.834711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.541778 # Actual altitude: 69.541778 # Commanded vehicle depth:454.386493 # Seafloor depth:-523.928271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 278.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.82; MB_Bottom_Detect_Filter_Max_Range = 278.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.129047 meters # Minimum depth: 504.341874 meters looking forward 100.000000 meters along route # Maximum depth: 505.363340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.341874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.481577; longitude = -118.073960; captureRadius = 10; duration = 101; initialDepth = 454.341874; finalDepth = 454.386493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.541778 # Actual altitude: 69.541778 # Commanded vehicle depth:454.341874 # Seafloor depth:-504.341874 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 278.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.82; MB_Bottom_Detect_Filter_Max_Range = 278.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.129227 meters # Minimum depth: 506.191843 meters looking forward 100.000000 meters along route # Maximum depth: 507.051532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.191843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.481440; longitude = -118.075036; captureRadius = 10; duration = 101; initialDepth = 456.191843; finalDepth = 454.341874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:456.191843 # Seafloor depth:-506.191843 # 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 101.129407 meters # Minimum depth: 507.498100 meters looking forward 100.000000 meters along route # Maximum depth: 507.669207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.498100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.481304; longitude = -118.076112; captureRadius = 10; duration = 101; initialDepth = 457.498100; finalDepth = 456.191843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:457.4981 # Seafloor depth:-507.498100 # 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 121.810674 meters # Minimum depth: 497.212035 meters looking forward 100.000000 meters along route # Maximum depth: 507.267512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 447.212035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.481168; longitude = -118.077188; captureRadius = 10; duration = 121; initialDepth = 447.212035; finalDepth = 457.498100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.055477 # Actual altitude: 60.055477 # Commanded vehicle depth:447.212035 # Seafloor depth:-507.267512 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.02; MB_Bottom_Detect_Filter_Max_Range = 240.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 64.992321 meters # Minimum depth: 495.923304 meters looking forward 100.000000 meters along route # Maximum depth: 498.739211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.923304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.481004; longitude = -118.078484; captureRadius = 10; duration = 64; # abortOnTimeout = True; initialDepth = 445.923304; finalDepth = 447.212035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.055477 # Actual altitude: 60.055477 # Commanded vehicle depth:445.923304 # Seafloor depth:-496.675972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.02; MB_Bottom_Detect_Filter_Max_Range = 240.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 120.501955 meters # Minimum depth: 492.777477 meters looking forward 100.000000 meters along route # Maximum depth: 494.248538 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.777477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.481584; longitude = -118.078582; captureRadius = 10; duration = 120; initialDepth = 442.777477; finalDepth = 445.923304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.471061 # Actual altitude: 51.471061 # Commanded vehicle depth:442.777477 # Seafloor depth:-494.248538 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 120.501951 meters # Minimum depth: 492.445686 meters looking forward 100.000000 meters along route # Maximum depth: 492.600166 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.445686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.482660; longitude = -118.078762; captureRadius = 10; duration = 120; initialDepth = 442.445686; finalDepth = 442.777477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.471061 # Actual altitude: 51.471061 # Commanded vehicle depth:442.445686 # Seafloor depth:-492.600166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 120.501947 meters # Minimum depth: 492.669892 meters looking forward 100.000000 meters along route # Maximum depth: 492.874310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.669892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.483736; longitude = -118.078943; captureRadius = 10; duration = 120; initialDepth = 442.669892; finalDepth = 442.445686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.15448 # Actual altitude: 50.15448 # Commanded vehicle depth:442.669892 # Seafloor depth:-492.669892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.62; 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 = 200.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 120.501944 meters # Minimum depth: 493.873194 meters looking forward 100.000000 meters along route # Maximum depth: 496.389267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.873194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.484813; longitude = -118.079124; captureRadius = 10; duration = 120; initialDepth = 443.873194; finalDepth = 442.669892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:443.873194 # Seafloor depth:-493.873194 # 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 120.501940 meters # Minimum depth: 499.215750 meters looking forward 100.000000 meters along route # Maximum depth: 502.403065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 449.215750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.485889; longitude = -118.079304; captureRadius = 10; duration = 120; initialDepth = 449.215750; finalDepth = 443.873194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:449.21575 # Seafloor depth:-499.215750 # 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 120.501936 meters # Minimum depth: 503.650548 meters looking forward 100.000000 meters along route # Maximum depth: 504.125290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.650548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.486965; longitude = -118.079485; captureRadius = 10; duration = 120; initialDepth = 453.650548; finalDepth = 449.215750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:453.650548 # Seafloor depth:-503.650548 # 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 120.501933 meters # Minimum depth: 504.668167 meters looking forward 100.000000 meters along route # Maximum depth: 505.124995 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.668167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.488041; longitude = -118.079665; captureRadius = 10; duration = 120; initialDepth = 454.668167; finalDepth = 453.650548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:454.668167 # Seafloor depth:-504.668167 # 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 120.501928 meters # Minimum depth: 506.170267 meters looking forward 100.000000 meters along route # Maximum depth: 506.309930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.170267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.489117; longitude = -118.079846; captureRadius = 10; duration = 120; initialDepth = 456.170267; finalDepth = 454.668167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.139663 # Actual altitude: 50.139663 # Commanded vehicle depth:456.170267 # Seafloor depth:-506.309930 # 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 21 # Segment length 140.585579 meters # Minimum depth: 506.581667 meters looking forward 100.000000 meters along route # Maximum depth: 507.807393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.581667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.490193; longitude = -118.080027; captureRadius = 10; duration = 140; initialDepth = 456.581667; finalDepth = 456.170267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.139663 # Actual altitude: 50.139663 # Commanded vehicle depth:456.581667 # Seafloor depth:-506.581667 # behavior reson { duration = 6; SBP_Power = 100.0; 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 to get to end of line 20 # Segment length 38.689470 meters # Minimum depth: 507.807393 meters looking forward 100.000000 meters along route # Maximum depth: 508.291992 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.807393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491449; longitude = -118.080237; captureRadius = 10; duration = 38; # abortOnTimeout = True; initialDepth = 457.807393; finalDepth = 456.581667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.484599 # Actual altitude: 50.484599 # Commanded vehicle depth:457.807393 # Seafloor depth:-508.291992 # 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 20 # Segment length 115.050588 meters # Minimum depth: 508.968555 meters looking forward 100.000000 meters along route # Maximum depth: 509.152239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.968555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491626; longitude = -118.079879; captureRadius = 10; duration = 115; initialDepth = 458.968555; finalDepth = 457.807393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.484599 # Actual altitude: 50.484599 # Commanded vehicle depth:458.968555 # Seafloor depth:-508.968555 # behavior reson { duration = 6; SBP_Power = 0.0; 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 to get to end of line 19 # Segment length 38.746238 meters # Minimum depth: 508.569824 meters looking forward 100.000000 meters along route # Maximum depth: 509.152239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.569824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492153; longitude = -118.078812; captureRadius = 10; duration = 38; # abortOnTimeout = True; initialDepth = 458.569824; finalDepth = 458.968555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.443573 # Actual altitude: 50.443573 # Commanded vehicle depth:458.569824 # Seafloor depth:-509.013397 # 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 19 # Segment length 120.683639 meters # Minimum depth: 507.046780 meters looking forward 100.000000 meters along route # Maximum depth: 507.953434 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.046780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491808; longitude = -118.078749; captureRadius = 10; duration = 120; initialDepth = 457.046780; finalDepth = 458.569824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.906654 # Actual altitude: 50.906654 # Commanded vehicle depth:457.04678 # Seafloor depth:-507.953434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.63; 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 = 203.63; 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 19 # Segment length 120.683646 meters # Minimum depth: 505.888176 meters looking forward 100.000000 meters along route # Maximum depth: 506.350683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.888176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.490731; longitude = -118.078555; captureRadius = 10; duration = 120; initialDepth = 455.888176; finalDepth = 457.046780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.906654 # Actual altitude: 50.906654 # Commanded vehicle depth:455.888176 # Seafloor depth:-506.350683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.63; 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 = 203.63; 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 19 # Segment length 120.683655 meters # Minimum depth: 505.286484 meters looking forward 100.000000 meters along route # Maximum depth: 505.715303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.286484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.489655; longitude = -118.078361; captureRadius = 10; duration = 120; initialDepth = 455.286484; finalDepth = 455.888176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.462507 # Actual altitude: 50.462507 # Commanded vehicle depth:455.286484 # Seafloor depth:-505.715303 # 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 = 20.19; 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 19 # Segment length 120.683662 meters # Minimum depth: 505.494398 meters looking forward 100.000000 meters along route # Maximum depth: 505.560567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.494398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.488579; longitude = -118.078167; captureRadius = 10; duration = 120; initialDepth = 455.494398; finalDepth = 455.286484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.428819 # Actual altitude: 50.428819 # Commanded vehicle depth:455.494398 # Seafloor depth:-505.494398 # 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 19 # Segment length 120.683670 meters # Minimum depth: 505.143010 meters looking forward 100.000000 meters along route # Maximum depth: 505.584814 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.143010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.487503; longitude = -118.077973; captureRadius = 10; duration = 120; initialDepth = 455.143010; finalDepth = 455.494398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:455.14301 # Seafloor depth:-505.143010 # 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 120.683678 meters # Minimum depth: 505.762074 meters looking forward 100.000000 meters along route # Maximum depth: 506.089161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.762074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.486427; longitude = -118.077779; captureRadius = 10; duration = 120; initialDepth = 455.762074; finalDepth = 455.143010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:455.762074 # Seafloor depth:-505.762074 # 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 120.683686 meters # Minimum depth: 506.422744 meters looking forward 100.000000 meters along route # Maximum depth: 506.541716 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.422744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.485351; longitude = -118.077585; captureRadius = 10; duration = 120; initialDepth = 456.422744; finalDepth = 455.762074; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:456.422744 # Seafloor depth:-506.422744 # 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 125.743342 meters # Minimum depth: 506.216849 meters looking forward 100.000000 meters along route # Maximum depth: 507.568836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.216849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.484274; longitude = -118.077390; captureRadius = 10; duration = 125; initialDepth = 456.216849; finalDepth = 456.422744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:456.216849 # Seafloor depth:-506.216849 # 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 115.624052 meters # Minimum depth: 507.242483 meters looking forward 100.000000 meters along route # Maximum depth: 507.600112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.242483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.483153; longitude = -118.077188; captureRadius = 10; duration = 115; initialDepth = 457.242483; finalDepth = 456.216849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.357629 # Actual altitude: 50.357629 # Commanded vehicle depth:457.242483 # Seafloor depth:-507.600112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.43; 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 = 201.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 120.683710 meters # Minimum depth: 507.251836 meters looking forward 100.000000 meters along route # Maximum depth: 507.322861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.251836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.482122; longitude = -118.077002; captureRadius = 10; duration = 120; initialDepth = 457.251836; finalDepth = 457.242483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.357629 # Actual altitude: 50.357629 # Commanded vehicle depth:457.251836 # Seafloor depth:-507.251836 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.43; 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 = 201.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 120.683717 meters # Minimum depth: 507.634103 meters looking forward 100.000000 meters along route # Maximum depth: 509.725679 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.634103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.481046; longitude = -118.076808; captureRadius = 10; duration = 120; initialDepth = 457.634103; finalDepth = 457.251836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:457.634103 # Seafloor depth:-507.634103 # 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 120.683724 meters # Minimum depth: 510.346496 meters looking forward 100.000000 meters along route # Maximum depth: 512.259532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 460.346496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.479970; longitude = -118.076614; captureRadius = 10; duration = 120; initialDepth = 460.346496; finalDepth = 457.634103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:460.346496 # Seafloor depth:-510.346496 # 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 120.683733 meters # Minimum depth: 511.580239 meters looking forward 100.000000 meters along route # Maximum depth: 512.170648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 461.580239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.478894; longitude = -118.076420; captureRadius = 10; duration = 120; initialDepth = 461.580239; finalDepth = 460.346496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.590409 # Actual altitude: 50.590409 # Commanded vehicle depth:461.580239 # Seafloor depth:-512.170648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.36; 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 = 202.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 120.683741 meters # Minimum depth: 511.607456 meters looking forward 100.000000 meters along route # Maximum depth: 512.587189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 461.607456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.477817; longitude = -118.076225; captureRadius = 10; duration = 120; initialDepth = 461.607456; finalDepth = 461.580239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.590409 # Actual altitude: 50.590409 # Commanded vehicle depth:461.607456 # Seafloor depth:-511.607456 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.36; 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 = 202.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 120.683748 meters # Minimum depth: 514.443655 meters looking forward 100.000000 meters along route # Maximum depth: 518.496131 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 464.443655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.476741; longitude = -118.076031; captureRadius = 10; duration = 120; initialDepth = 464.443655; finalDepth = 461.607456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:464.443655 # Seafloor depth:-514.443655 # 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 120.683756 meters # Minimum depth: 521.576863 meters looking forward 100.000000 meters along route # Maximum depth: 522.232697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.576863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.475665; longitude = -118.075837; captureRadius = 10; duration = 120; initialDepth = 471.576863; finalDepth = 464.443655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.655834 # Actual altitude: 50.655834 # Commanded vehicle depth:471.576863 # Seafloor depth:-522.232697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.62; 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 = 202.62; 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 19 # Segment length 120.683764 meters # Minimum depth: 522.853972 meters looking forward 100.000000 meters along route # Maximum depth: 523.027793 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.853972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.474589; longitude = -118.075643; captureRadius = 10; duration = 120; initialDepth = 472.853972; finalDepth = 471.576863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.655834 # Actual altitude: 50.655834 # Commanded vehicle depth:472.853972 # Seafloor depth:-522.853972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.62; 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 = 202.62; 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 19 # Segment length 120.683772 meters # Minimum depth: 523.375029 meters looking forward 100.000000 meters along route # Maximum depth: 524.257641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.375029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.473513; longitude = -118.075449; captureRadius = 10; duration = 120; initialDepth = 473.375029; finalDepth = 472.853972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:473.375029 # Seafloor depth:-523.375029 # 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 136.104804 meters # Minimum depth: 524.769610 meters looking forward 100.000000 meters along route # Maximum depth: 525.996867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 474.769610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.472437; longitude = -118.075255; captureRadius = 10; duration = 136; initialDepth = 474.769610; finalDepth = 473.375029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:474.76961 # Seafloor depth:-524.769610 # 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 105.262763 meters # Minimum depth: 526.190028 meters looking forward 100.000000 meters along route # Maximum depth: 526.728468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.190028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.471223; longitude = -118.075036; captureRadius = 10; duration = 105; initialDepth = 476.190028; finalDepth = 474.769610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:476.190028 # Seafloor depth:-526.190028 # 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 120.683795 meters # Minimum depth: 527.460193 meters looking forward 100.000000 meters along route # Maximum depth: 527.976011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 477.460193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.470284; longitude = -118.074866; captureRadius = 10; duration = 120; initialDepth = 477.460193; finalDepth = 476.190028; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:477.460193 # Seafloor depth:-527.460193 # 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 120.683803 meters # Minimum depth: 528.080957 meters looking forward 100.000000 meters along route # Maximum depth: 528.395272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.080957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.469208; longitude = -118.074672; captureRadius = 10; duration = 120; initialDepth = 478.080957; finalDepth = 477.460193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:478.080957 # Seafloor depth:-528.080957 # 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 120.683811 meters # Minimum depth: 528.328125 meters looking forward 100.000000 meters along route # Maximum depth: 528.671758 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.328125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.468132; longitude = -118.074478; captureRadius = 10; duration = 120; initialDepth = 478.328125; finalDepth = 478.080957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:478.328125 # Seafloor depth:-528.328125 # 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 120.683819 meters # Minimum depth: 528.931082 meters looking forward 100.000000 meters along route # Maximum depth: 529.474450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.931082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.467056; longitude = -118.074284; captureRadius = 10; duration = 120; initialDepth = 478.931082; finalDepth = 478.328125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:478.931082 # Seafloor depth:-528.931082 # 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 120.683827 meters # Minimum depth: 530.330871 meters looking forward 100.000000 meters along route # Maximum depth: 531.123612 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.330871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.465980; longitude = -118.074090; captureRadius = 10; duration = 120; initialDepth = 480.330871; finalDepth = 478.931082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:480.330871 # Seafloor depth:-530.330871 # 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 120.683834 meters # Minimum depth: 531.798966 meters looking forward 100.000000 meters along route # Maximum depth: 532.846477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 481.798966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.464903; longitude = -118.073896; captureRadius = 10; duration = 120; initialDepth = 481.798966; finalDepth = 480.330871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:481.798966 # Seafloor depth:-531.798966 # 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 120.683842 meters # Minimum depth: 534.281215 meters looking forward 100.000000 meters along route # Maximum depth: 536.220028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.281215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.463827; longitude = -118.073702; captureRadius = 10; duration = 120; initialDepth = 484.281215; finalDepth = 481.798966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:484.281215 # Seafloor depth:-534.281215 # 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 120.683850 meters # Minimum depth: 538.715772 meters looking forward 100.000000 meters along route # Maximum depth: 542.319002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.715772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.462751; longitude = -118.073507; captureRadius = 10; duration = 120; initialDepth = 488.715772; finalDepth = 484.281215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:488.715772 # Seafloor depth:-538.715772 # 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 120.683858 meters # Minimum depth: 548.322076 meters looking forward 100.000000 meters along route # Maximum depth: 552.712571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.322076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.461675; longitude = -118.073313; captureRadius = 10; duration = 120; initialDepth = 498.322076; finalDepth = 488.715772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:498.322076 # Seafloor depth:-548.322076 # 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 142.235640 meters # Minimum depth: 553.347391 meters looking forward 100.000000 meters along route # Maximum depth: 555.772159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.347391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.460599; longitude = -118.073119; captureRadius = 10; duration = 142; initialDepth = 503.347391; finalDepth = 498.322076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:503.347391 # Seafloor depth:-553.347391 # 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 0.639742 meters # Minimum depth: 554.380173 meters looking forward 100.000000 meters along route # Maximum depth: 555.772159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.380173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.459330; longitude = -118.072890; captureRadius = 10; duration = 0; # abortOnTimeout = True; initialDepth = 504.380173; finalDepth = 503.347391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.113739 # Actual altitude: 51.113739 # Commanded vehicle depth:504.380173 # Seafloor depth:-555.493912 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.45; 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 = 204.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 149.360258 meters # Minimum depth: 556.105962 meters looking forward 100.000000 meters along route # Maximum depth: 562.137974 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.105962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.459331; longitude = -118.072883; captureRadius = 10; duration = 149; initialDepth = 506.105962; finalDepth = 504.380173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.113739 # Actual altitude: 51.113739 # Commanded vehicle depth:506.105962 # Seafloor depth:-556.105962 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.45; 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 = 204.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 59.221172 meters # Minimum depth: 560.719269 meters looking forward 100.000000 meters along route # Maximum depth: 562.137974 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 510.719269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.459533; longitude = -118.071294; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 510.719269; finalDepth = 506.105962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:510.719269 # Seafloor depth:-560.719269 # 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 120.683544 meters # Minimum depth: 558.891032 meters looking forward 100.000000 meters along route # Maximum depth: 560.485938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.891032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.460061; longitude = -118.071390; captureRadius = 10; duration = 120; initialDepth = 508.891032; finalDepth = 510.719269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.594906 # Actual altitude: 51.594906 # Commanded vehicle depth:508.891032 # Seafloor depth:-560.485938 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 138.910694 meters # Minimum depth: 553.120542 meters looking forward 100.000000 meters along route # Maximum depth: 556.269171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.120542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.461137; longitude = -118.071584; captureRadius = 10; duration = 138; initialDepth = 503.120542; finalDepth = 508.891032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.148629 # Actual altitude: 53.148629 # Commanded vehicle depth:503.120542 # Seafloor depth:-556.269171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.26; MB_Bottom_Detect_Filter_Max_Range = 212.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 102.456369 meters # Minimum depth: 550.655830 meters looking forward 100.000000 meters along route # Maximum depth: 552.434170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.655830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.462376; longitude = -118.071807; captureRadius = 10; duration = 102; initialDepth = 500.655830; finalDepth = 503.120542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.148629 # Actual altitude: 53.148629 # Commanded vehicle depth:500.65583 # Seafloor depth:-552.434170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.26; MB_Bottom_Detect_Filter_Max_Range = 212.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 120.683521 meters # Minimum depth: 545.362881 meters looking forward 100.000000 meters along route # Maximum depth: 548.042873 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.362881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.463289; longitude = -118.071972; captureRadius = 10; duration = 120; initialDepth = 495.362881; finalDepth = 500.655830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.679992 # Actual altitude: 52.679992 # Commanded vehicle depth:495.362881 # Seafloor depth:-548.042873 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.07; MB_Bottom_Detect_Filter_Max_Range = 210.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 120.683512 meters # Minimum depth: 537.788891 meters looking forward 100.000000 meters along route # Maximum depth: 542.782178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 487.788891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.464365; longitude = -118.072166; captureRadius = 10; duration = 120; initialDepth = 487.788891; finalDepth = 495.362881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.993287 # Actual altitude: 54.993287 # Commanded vehicle depth:487.788891 # Seafloor depth:-542.782178 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.00; MB_Bottom_Detect_Filter_Max_Range = 219.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 120.683505 meters # Minimum depth: 535.160076 meters looking forward 100.000000 meters along route # Maximum depth: 537.325672 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.160076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.465442; longitude = -118.072360; captureRadius = 10; duration = 120; initialDepth = 485.160076; finalDepth = 487.788891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.993287 # Actual altitude: 54.993287 # Commanded vehicle depth:485.160076 # Seafloor depth:-537.325672 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.00; MB_Bottom_Detect_Filter_Max_Range = 219.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 120.683496 meters # Minimum depth: 530.150742 meters looking forward 100.000000 meters along route # Maximum depth: 532.867950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.150742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.466518; longitude = -118.072554; captureRadius = 10; duration = 120; initialDepth = 480.150742; finalDepth = 485.160076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7172079999999 # Actual altitude: 52.7172079999999 # Commanded vehicle depth:480.150742 # Seafloor depth:-532.867950 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.87; 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 = 210.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 120.683489 meters # Minimum depth: 526.233904 meters looking forward 100.000000 meters along route # Maximum depth: 527.873106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.233904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.467594; longitude = -118.072749; captureRadius = 10; duration = 120; initialDepth = 476.233904; finalDepth = 480.150742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7172079999999 # Actual altitude: 52.7172079999999 # Commanded vehicle depth:476.233904 # Seafloor depth:-527.873106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.87; 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 = 210.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 120.683481 meters # Minimum depth: 525.280891 meters looking forward 100.000000 meters along route # Maximum depth: 525.926812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 475.280891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.468670; longitude = -118.072943; captureRadius = 10; duration = 120; initialDepth = 475.280891; finalDepth = 476.233904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.639202 # Actual altitude: 51.639202 # Commanded vehicle depth:475.280891 # Seafloor depth:-525.926812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 120.683473 meters # Minimum depth: 524.393853 meters looking forward 100.000000 meters along route # Maximum depth: 525.018108 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 474.393853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.469746; longitude = -118.073137; captureRadius = 10; duration = 120; initialDepth = 474.393853; finalDepth = 475.280891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.645921 # Actual altitude: 50.645921 # Commanded vehicle depth:474.393853 # Seafloor depth:-525.018108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.58; 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 = 202.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 120.683466 meters # Minimum depth: 523.330527 meters looking forward 100.000000 meters along route # Maximum depth: 523.815302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.330527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.470822; longitude = -118.073331; captureRadius = 10; duration = 120; initialDepth = 473.330527; finalDepth = 474.393853; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6242549999999 # Actual altitude: 50.6242549999999 # Commanded vehicle depth:473.330527 # Seafloor depth:-523.815302 # 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 = 151.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 120.683457 meters # Minimum depth: 521.914839 meters looking forward 100.000000 meters along route # Maximum depth: 522.713377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.914839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.471899; longitude = -118.073525; captureRadius = 10; duration = 120; initialDepth = 471.914839; finalDepth = 473.330527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.798538 # Actual altitude: 50.798538 # Commanded vehicle depth:471.914839 # Seafloor depth:-522.713377 # 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 = 152.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 120.683450 meters # Minimum depth: 521.383569 meters looking forward 100.000000 meters along route # Maximum depth: 521.480487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.383569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.472975; longitude = -118.073719; captureRadius = 10; duration = 120; initialDepth = 471.383569; finalDepth = 471.914839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.798538 # Actual altitude: 50.798538 # Commanded vehicle depth:471.383569 # Seafloor depth:-521.480487 # 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 = 152.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 120.683442 meters # Minimum depth: 520.559317 meters looking forward 100.000000 meters along route # Maximum depth: 520.877751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 470.559317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.474051; longitude = -118.073913; captureRadius = 10; duration = 120; initialDepth = 470.559317; finalDepth = 471.383569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.318434 # Actual altitude: 50.318434 # Commanded vehicle depth:470.559317 # Seafloor depth:-520.877751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.27; 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 = 201.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 120.683434 meters # Minimum depth: 519.193628 meters looking forward 100.000000 meters along route # Maximum depth: 519.948588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 469.193628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.475127; longitude = -118.074108; captureRadius = 10; duration = 120; initialDepth = 469.193628; finalDepth = 470.559317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.75496 # Actual altitude: 50.75496 # Commanded vehicle depth:469.193628 # Seafloor depth:-519.948588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 203.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 121.860734 meters # Minimum depth: 510.583082 meters looking forward 100.000000 meters along route # Maximum depth: 515.172352 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 460.583082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.476203; longitude = -118.074302; captureRadius = 10; duration = 121; initialDepth = 460.583082; finalDepth = 469.193628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.5892700000001 # Actual altitude: 54.5892700000001 # Commanded vehicle depth:460.583082 # Seafloor depth:-515.172352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.84; MB_Bottom_Detect_Filter_Max_Range = 218.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 119.506111 meters # Minimum depth: 510.018290 meters looking forward 100.000000 meters along route # Maximum depth: 510.571958 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 460.018290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.477290; longitude = -118.074498; captureRadius = 10; duration = 119; initialDepth = 460.018290; finalDepth = 460.583082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.5892700000001 # Actual altitude: 54.5892700000001 # Commanded vehicle depth:460.01829 # Seafloor depth:-510.571958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.84; MB_Bottom_Detect_Filter_Max_Range = 218.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 120.683410 meters # Minimum depth: 510.308615 meters looking forward 100.000000 meters along route # Maximum depth: 510.507471 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 460.308615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.478356; longitude = -118.074690; captureRadius = 10; duration = 120; initialDepth = 460.308615; finalDepth = 460.018290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.553668 # Actual altitude: 50.553668 # Commanded vehicle depth:460.308615 # Seafloor depth:-510.507471 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.21; 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 = 202.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 120.683403 meters # Minimum depth: 507.941608 meters looking forward 100.000000 meters along route # Maximum depth: 509.398016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.941608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.479432; longitude = -118.074884; captureRadius = 10; duration = 120; initialDepth = 457.941608; finalDepth = 460.308615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.456408 # Actual altitude: 51.456408 # Commanded vehicle depth:457.941608 # Seafloor depth:-509.398016 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.83; 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 = 205.83; 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 17 # Segment length 120.683395 meters # Minimum depth: 506.637065 meters looking forward 100.000000 meters along route # Maximum depth: 507.389667 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.637065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.480508; longitude = -118.075078; captureRadius = 10; duration = 120; initialDepth = 456.637065; finalDepth = 457.941608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.456408 # Actual altitude: 51.456408 # Commanded vehicle depth:456.637065 # Seafloor depth:-507.389667 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.83; 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 = 205.83; 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 17 # Segment length 120.683387 meters # Minimum depth: 506.491301 meters looking forward 100.000000 meters along route # Maximum depth: 506.701114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.491301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.481584; longitude = -118.075272; captureRadius = 10; duration = 120; initialDepth = 456.491301; finalDepth = 456.637065; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.752602 # Actual altitude: 50.752602 # Commanded vehicle depth:456.491301 # Seafloor depth:-506.491301 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 203.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 120.683379 meters # Minimum depth: 507.369462 meters looking forward 100.000000 meters along route # Maximum depth: 507.810480 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.369462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.482660; longitude = -118.075466; captureRadius = 10; duration = 120; initialDepth = 457.369462; finalDepth = 456.491301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:457.369462 # Seafloor depth:-507.369462 # 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 120.683372 meters # Minimum depth: 507.278089 meters looking forward 100.000000 meters along route # Maximum depth: 507.848449 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.278089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.483736; longitude = -118.075661; captureRadius = 10; duration = 120; initialDepth = 457.278089; finalDepth = 457.369462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.57036 # Actual altitude: 50.57036 # Commanded vehicle depth:457.278089 # Seafloor depth:-507.848449 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.28; 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 = 202.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 120.683363 meters # Minimum depth: 506.698786 meters looking forward 100.000000 meters along route # Maximum depth: 507.024670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.698786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.484813; longitude = -118.075855; captureRadius = 10; duration = 120; initialDepth = 456.698786; finalDepth = 457.278089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.57036 # Actual altitude: 50.57036 # Commanded vehicle depth:456.698786 # Seafloor depth:-507.024670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.28; 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 = 202.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 120.683356 meters # Minimum depth: 506.050076 meters looking forward 100.000000 meters along route # Maximum depth: 506.612086 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.050076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.485889; longitude = -118.076049; captureRadius = 10; duration = 120; initialDepth = 456.050076; finalDepth = 456.698786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.56201 # Actual altitude: 50.56201 # Commanded vehicle depth:456.050076 # Seafloor depth:-506.612086 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.25; 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 = 202.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 120.683348 meters # Minimum depth: 505.542159 meters looking forward 100.000000 meters along route # Maximum depth: 506.040560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.542159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.486965; longitude = -118.076243; captureRadius = 10; duration = 120; initialDepth = 455.542159; finalDepth = 456.050076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.56201 # Actual altitude: 50.56201 # Commanded vehicle depth:455.542159 # Seafloor depth:-506.040560 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.25; 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 = 202.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 132.357457 meters # Minimum depth: 505.264469 meters looking forward 100.000000 meters along route # Maximum depth: 505.669582 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.264469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.488041; longitude = -118.076437; captureRadius = 10; duration = 132; initialDepth = 455.264469; finalDepth = 455.542159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.498401 # Actual altitude: 50.498401 # Commanded vehicle depth:455.264469 # Seafloor depth:-505.669582 # 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 = 151.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.009216 meters # Minimum depth: 504.998550 meters looking forward 100.000000 meters along route # Maximum depth: 505.223829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.998550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.489221; longitude = -118.076650; captureRadius = 10; duration = 109; initialDepth = 454.998550; finalDepth = 455.264469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.405113 # Actual altitude: 50.405113 # Commanded vehicle depth:454.99855 # Seafloor depth:-505.223829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.62; 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 = 201.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 120.683324 meters # Minimum depth: 504.802144 meters looking forward 100.000000 meters along route # Maximum depth: 504.971022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.802144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.490193; longitude = -118.076825; captureRadius = 10; duration = 120; initialDepth = 454.802144; finalDepth = 454.998550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.225279 # Actual altitude: 50.225279 # Commanded vehicle depth:454.802144 # Seafloor depth:-504.802144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.90; 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 = 200.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 121.769819 meters # Minimum depth: 504.960304 meters looking forward 100.000000 meters along route # Maximum depth: 506.953141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.960304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491270; longitude = -118.077019; captureRadius = 10; duration = 121; initialDepth = 454.960304; finalDepth = 454.802144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:454.960304 # Seafloor depth:-504.960304 # 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 16 # Segment length 2.563284 meters # Minimum depth: 505.825460 meters looking forward 100.000000 meters along route # Maximum depth: 507.731842 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.825460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492355; longitude = -118.077215; captureRadius = 10; duration = 2; # abortOnTimeout = True; initialDepth = 455.825460; finalDepth = 454.960304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.906382 # Actual altitude: 51.906382 # Commanded vehicle depth:455.82546 # Seafloor depth:-507.731842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.76; MB_Bottom_Detect_Filter_Max_Range = 207.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 147.436716 meters # Minimum depth: 505.926552 meters looking forward 100.000000 meters along route # Maximum depth: 506.935045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.926552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492359; longitude = -118.077188; captureRadius = 10; duration = 147; initialDepth = 455.926552; finalDepth = 455.825460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.906382 # Actual altitude: 51.906382 # Commanded vehicle depth:455.926552 # Seafloor depth:-506.935045 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.76; MB_Bottom_Detect_Filter_Max_Range = 207.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 28.051288 meters # Minimum depth: 505.769132 meters looking forward 100.000000 meters along route # Maximum depth: 506.048615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.769132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492558; longitude = -118.075619; captureRadius = 10; duration = 28; # abortOnTimeout = True; initialDepth = 455.769132; finalDepth = 455.926552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.008493 # Actual altitude: 51.008493 # Commanded vehicle depth:455.769132 # Seafloor depth:-506.048615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 204.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 116.397882 meters # Minimum depth: 505.526605 meters looking forward 100.000000 meters along route # Maximum depth: 505.713889 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.526605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492307; longitude = -118.075574; captureRadius = 10; duration = 116; initialDepth = 455.526605; finalDepth = 455.769132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.279483 # Actual altitude: 50.279483 # Commanded vehicle depth:455.526605 # Seafloor depth:-505.713889 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.12; 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 = 201.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 120.683006 meters # Minimum depth: 505.106818 meters looking forward 100.000000 meters along route # Maximum depth: 505.225388 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.106818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491270; longitude = -118.075387; captureRadius = 10; duration = 120; initialDepth = 455.106818; finalDepth = 455.526605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.187284 # Actual altitude: 50.187284 # Commanded vehicle depth:455.106818 # Seafloor depth:-505.225388 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.75; 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 = 200.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 120.683014 meters # Minimum depth: 504.722257 meters looking forward 100.000000 meters along route # Maximum depth: 504.831581 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.722257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.490193; longitude = -118.075193; captureRadius = 10; duration = 120; initialDepth = 454.722257; finalDepth = 455.106818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.11857 # Actual altitude: 50.11857 # Commanded vehicle depth:454.722257 # Seafloor depth:-504.722257 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.47; 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 = 200.47; 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 during line 15 # Segment length 120.683022 meters # Minimum depth: 504.791559 meters looking forward 100.000000 meters along route # Maximum depth: 504.968404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.791559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.489117; longitude = -118.074998; captureRadius = 10; duration = 120; initialDepth = 454.791559; finalDepth = 454.722257; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.176845 # Actual altitude: 50.176845 # Commanded vehicle depth:454.791559 # Seafloor depth:-504.968404 # 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 15 # Segment length 120.683030 meters # Minimum depth: 505.144864 meters looking forward 100.000000 meters along route # Maximum depth: 505.275749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.144864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.488041; longitude = -118.074804; captureRadius = 10; duration = 120; initialDepth = 455.144864; finalDepth = 454.791559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.176845 # Actual altitude: 50.176845 # Commanded vehicle depth:455.144864 # Seafloor depth:-505.275749 # 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 15 # Segment length 120.683038 meters # Minimum depth: 505.515680 meters looking forward 100.000000 meters along route # Maximum depth: 505.632131 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.515680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.486965; longitude = -118.074610; captureRadius = 10; duration = 120; initialDepth = 455.515680; finalDepth = 455.144864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.130885 # Actual altitude: 50.130885 # Commanded vehicle depth:455.51568 # Seafloor depth:-505.632131 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.52; 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 = 200.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 120.683046 meters # Minimum depth: 504.844078 meters looking forward 100.000000 meters along route # Maximum depth: 505.246700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.844078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.485889; longitude = -118.074416; captureRadius = 10; duration = 120; initialDepth = 454.844078; finalDepth = 455.515680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.402622 # Actual altitude: 50.402622 # Commanded vehicle depth:454.844078 # Seafloor depth:-505.246700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.61; 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 = 201.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 120.683053 meters # Minimum depth: 504.360047 meters looking forward 100.000000 meters along route # Maximum depth: 504.698744 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.360047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.484813; longitude = -118.074222; captureRadius = 10; duration = 120; initialDepth = 454.360047; finalDepth = 454.844078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.402622 # Actual altitude: 50.402622 # Commanded vehicle depth:454.360047 # Seafloor depth:-504.698744 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.61; 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 = 201.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 120.683061 meters # Minimum depth: 503.744615 meters looking forward 100.000000 meters along route # Maximum depth: 504.102897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.744615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.483736; longitude = -118.074028; captureRadius = 10; duration = 120; initialDepth = 453.744615; finalDepth = 454.360047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.358282 # Actual altitude: 50.358282 # Commanded vehicle depth:453.744615 # Seafloor depth:-504.102897 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.43; 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 = 201.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 120.683069 meters # Minimum depth: 504.939135 meters looking forward 100.000000 meters along route # Maximum depth: 505.385559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.939135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.482660; longitude = -118.073834; captureRadius = 10; duration = 120; initialDepth = 454.939135; finalDepth = 453.744615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.358282 # Actual altitude: 50.358282 # Commanded vehicle depth:454.939135 # Seafloor depth:-504.939135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.43; 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 = 201.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.600490 meters # Minimum depth: 503.945477 meters looking forward 100.000000 meters along route # Maximum depth: 504.583149 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.945477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.481584; longitude = -118.073640; captureRadius = 10; duration = 135; initialDepth = 453.945477; finalDepth = 454.939135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.637672 # Actual altitude: 50.637672 # Commanded vehicle depth:453.945477 # Seafloor depth:-504.583149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.55; 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 = 202.55; 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 15 # Segment length 105.765672 meters # Minimum depth: 504.139181 meters looking forward 100.000000 meters along route # Maximum depth: 504.798364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.139181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.480375; longitude = -118.073422; captureRadius = 10; duration = 105; initialDepth = 454.139181; finalDepth = 453.945477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.637672 # Actual altitude: 50.637672 # Commanded vehicle depth:454.139181 # Seafloor depth:-504.139181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.55; 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 = 202.55; 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 15 # Segment length 120.683092 meters # Minimum depth: 506.034883 meters looking forward 100.000000 meters along route # Maximum depth: 506.941555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.034883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.479432; longitude = -118.073251; captureRadius = 10; duration = 120; initialDepth = 456.034883; finalDepth = 454.139181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:456.034883 # Seafloor depth:-506.034883 # 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 120.683101 meters # Minimum depth: 507.847049 meters looking forward 100.000000 meters along route # Maximum depth: 508.281999 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.847049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.478356; longitude = -118.073057; captureRadius = 10; duration = 120; initialDepth = 457.847049; finalDepth = 456.034883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:457.847049 # Seafloor depth:-507.847049 # 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 120.683108 meters # Minimum depth: 508.373756 meters looking forward 100.000000 meters along route # Maximum depth: 509.980869 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.373756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.477279; longitude = -118.072863; captureRadius = 10; duration = 120; initialDepth = 458.373756; finalDepth = 457.847049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:458.373756 # Seafloor depth:-508.373756 # 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 120.683116 meters # Minimum depth: 511.937167 meters looking forward 100.000000 meters along route # Maximum depth: 515.246169 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 461.937167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.476203; longitude = -118.072669; captureRadius = 10; duration = 120; initialDepth = 461.937167; finalDepth = 458.373756; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:461.937167 # Seafloor depth:-511.937167 # 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 120.683124 meters # Minimum depth: 516.895963 meters looking forward 100.000000 meters along route # Maximum depth: 518.121911 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.895963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.475127; longitude = -118.072475; captureRadius = 10; duration = 120; initialDepth = 466.895963; finalDepth = 461.937167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:466.895963 # Seafloor depth:-516.895963 # 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 120.683131 meters # Minimum depth: 518.222017 meters looking forward 100.000000 meters along route # Maximum depth: 518.235782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 468.222017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.474051; longitude = -118.072281; captureRadius = 10; duration = 120; initialDepth = 468.222017; finalDepth = 466.895963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:468.222017 # Seafloor depth:-518.222017 # 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 120.683140 meters # Minimum depth: 518.329055 meters looking forward 100.000000 meters along route # Maximum depth: 518.839198 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 468.329055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.472975; longitude = -118.072087; captureRadius = 10; duration = 120; initialDepth = 468.329055; finalDepth = 468.222017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:468.329055 # Seafloor depth:-518.329055 # 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 120.683147 meters # Minimum depth: 519.686855 meters looking forward 100.000000 meters along route # Maximum depth: 520.935655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 469.686855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.471899; longitude = -118.071893; captureRadius = 10; duration = 120; initialDepth = 469.686855; finalDepth = 468.329055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:469.686855 # Seafloor depth:-519.686855 # 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 120.683155 meters # Minimum depth: 522.416407 meters looking forward 100.000000 meters along route # Maximum depth: 523.903324 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.416407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.470822; longitude = -118.071699; captureRadius = 10; duration = 120; initialDepth = 472.416407; finalDepth = 469.686855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:472.416407 # Seafloor depth:-522.416407 # 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 120.683163 meters # Minimum depth: 525.864282 meters looking forward 100.000000 meters along route # Maximum depth: 527.570269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 475.864282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.469746; longitude = -118.071504; captureRadius = 10; duration = 120; initialDepth = 475.864282; finalDepth = 472.416407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:475.864282 # Seafloor depth:-525.864282 # 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 120.683171 meters # Minimum depth: 529.448673 meters looking forward 100.000000 meters along route # Maximum depth: 531.607351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.448673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.468670; longitude = -118.071310; captureRadius = 10; duration = 120; initialDepth = 479.448673; finalDepth = 475.864282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:479.448673 # Seafloor depth:-529.448673 # 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 120.683179 meters # Minimum depth: 534.214999 meters looking forward 100.000000 meters along route # Maximum depth: 536.994188 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.214999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.467594; longitude = -118.071116; captureRadius = 10; duration = 120; initialDepth = 484.214999; finalDepth = 479.448673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:484.214999 # Seafloor depth:-534.214999 # 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 120.683186 meters # Minimum depth: 540.265238 meters looking forward 100.000000 meters along route # Maximum depth: 546.404508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.265238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.466518; longitude = -118.070922; captureRadius = 10; duration = 120; initialDepth = 490.265238; finalDepth = 484.214999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:490.265238 # Seafloor depth:-540.265238 # 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 120.683194 meters # Minimum depth: 546.477068 meters looking forward 100.000000 meters along route # Maximum depth: 547.788781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.477068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.465442; longitude = -118.070728; captureRadius = 10; duration = 120; initialDepth = 496.477068; finalDepth = 490.265238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:496.477068 # Seafloor depth:-546.477068 # 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 120.683202 meters # Minimum depth: 549.823607 meters looking forward 100.000000 meters along route # Maximum depth: 552.351096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.823607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.464365; longitude = -118.070534; captureRadius = 10; duration = 120; initialDepth = 499.823607; finalDepth = 496.477068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:499.823607 # Seafloor depth:-549.823607 # 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 120.683210 meters # Minimum depth: 554.949491 meters looking forward 100.000000 meters along route # Maximum depth: 560.023367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.949491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.463289; longitude = -118.070340; captureRadius = 10; duration = 120; initialDepth = 504.949491; finalDepth = 499.823607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:504.949491 # Seafloor depth:-554.949491 # 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 120.683218 meters # Minimum depth: 561.106521 meters looking forward 100.000000 meters along route # Maximum depth: 562.821430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.106521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.462213; longitude = -118.070146; captureRadius = 10; duration = 120; initialDepth = 511.106521; finalDepth = 504.949491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:511.106521 # Seafloor depth:-561.106521 # 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 157.234270 meters # Minimum depth: 564.097792 meters looking forward 100.000000 meters along route # Maximum depth: 566.636458 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.097792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.461137; longitude = -118.069951; captureRadius = 10; duration = 157; initialDepth = 514.097792; finalDepth = 511.106521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:514.097792 # Seafloor depth:-564.097792 # 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 4.103730 meters # Minimum depth: 566.636458 meters looking forward 100.000000 meters along route # Maximum depth: 566.688400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 516.636458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.459735; longitude = -118.069699; captureRadius = 10; duration = 4; # abortOnTimeout = True; initialDepth = 516.636458; finalDepth = 514.097792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0519420000001 # Actual altitude: 50.0519420000001 # Commanded vehicle depth:516.636458 # Seafloor depth:-566.688400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.21; 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 = 200.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 145.896270 meters # Minimum depth: 567.572910 meters looking forward 100.000000 meters along route # Maximum depth: 578.487739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.572910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.459740; longitude = -118.069655; captureRadius = 10; duration = 145; initialDepth = 517.572910; finalDepth = 516.636458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0519420000001 # Actual altitude: 50.0519420000001 # Commanded vehicle depth:517.57291 # Seafloor depth:-567.572910 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.21; 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 = 200.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 74.224780 meters # Minimum depth: 582.660309 meters looking forward 100.000000 meters along route # Maximum depth: 584.470070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.660309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.459937; longitude = -118.068103; captureRadius = 10; duration = 74; # abortOnTimeout = True; initialDepth = 532.660309; finalDepth = 517.572910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:532.660309 # Seafloor depth:-582.660309 # 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 120.682904 meters # Minimum depth: 579.276085 meters looking forward 100.000000 meters along route # Maximum depth: 581.685190 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.276085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.460599; longitude = -118.068222; captureRadius = 10; duration = 120; initialDepth = 529.276085; finalDepth = 532.660309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.4091050000001 # Actual altitude: 52.4091050000001 # Commanded vehicle depth:529.276085 # Seafloor depth:-581.685190 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 120.682896 meters # Minimum depth: 571.204020 meters looking forward 100.000000 meters along route # Maximum depth: 576.605107 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.204020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.461675; longitude = -118.068416; captureRadius = 10; duration = 120; initialDepth = 521.204020; finalDepth = 529.276085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.401087 # Actual altitude: 55.401087 # Commanded vehicle depth:521.20402 # Seafloor depth:-576.605107 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.16; MB_Bottom_Detect_Filter_Max_Range = 221.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 120.682888 meters # Minimum depth: 568.673010 meters looking forward 100.000000 meters along route # Maximum depth: 570.239240 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.673010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.462751; longitude = -118.068610; captureRadius = 10; duration = 120; initialDepth = 518.673010; finalDepth = 521.204020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.401087 # Actual altitude: 55.401087 # Commanded vehicle depth:518.67301 # Seafloor depth:-570.239240 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.16; MB_Bottom_Detect_Filter_Max_Range = 221.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 120.682880 meters # Minimum depth: 564.284068 meters looking forward 100.000000 meters along route # Maximum depth: 566.661192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.284068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.463827; longitude = -118.068804; captureRadius = 10; duration = 120; initialDepth = 514.284068; finalDepth = 518.673010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.377124 # Actual altitude: 52.377124 # Commanded vehicle depth:514.284068 # Seafloor depth:-566.661192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.95; MB_Bottom_Detect_Filter_Max_Range = 209.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 120.682873 meters # Minimum depth: 560.029517 meters looking forward 100.000000 meters along route # Maximum depth: 561.637792 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 510.029517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.464903; longitude = -118.068999; captureRadius = 10; duration = 120; initialDepth = 510.029517; finalDepth = 514.284068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.377124 # Actual altitude: 52.377124 # Commanded vehicle depth:510.029517 # Seafloor depth:-561.637792 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.95; MB_Bottom_Detect_Filter_Max_Range = 209.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 120.682864 meters # Minimum depth: 559.493258 meters looking forward 100.000000 meters along route # Maximum depth: 559.991800 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.493258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.465980; longitude = -118.069193; captureRadius = 10; duration = 120; initialDepth = 509.493258; finalDepth = 510.029517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6082749999999 # Actual altitude: 51.6082749999999 # Commanded vehicle depth:509.493258 # Seafloor depth:-559.493258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 120.682857 meters # Minimum depth: 554.940288 meters looking forward 100.000000 meters along route # Maximum depth: 558.457879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.940288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.467056; longitude = -118.069387; captureRadius = 10; duration = 120; initialDepth = 504.940288; finalDepth = 509.493258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.517591 # Actual altitude: 53.517591 # Commanded vehicle depth:504.940288 # Seafloor depth:-558.457879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 214.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 120.682849 meters # Minimum depth: 539.199391 meters looking forward 100.000000 meters along route # Maximum depth: 547.881166 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.199391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.468132; longitude = -118.069581; captureRadius = 10; duration = 120; initialDepth = 489.199391; finalDepth = 504.940288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.681775 # Actual altitude: 58.681775 # Commanded vehicle depth:489.199391 # Seafloor depth:-547.881166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.47; MB_Bottom_Detect_Filter_Max_Range = 234.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 120.682841 meters # Minimum depth: 536.144071 meters looking forward 100.000000 meters along route # Maximum depth: 536.391294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 486.144071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.469208; longitude = -118.069775; captureRadius = 10; duration = 120; initialDepth = 486.144071; finalDepth = 489.199391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.681775 # Actual altitude: 58.681775 # Commanded vehicle depth:486.144071 # Seafloor depth:-536.144071 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.47; MB_Bottom_Detect_Filter_Max_Range = 234.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 139.312537 meters # Minimum depth: 534.017526 meters looking forward 100.000000 meters along route # Maximum depth: 535.754176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.017526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.470284; longitude = -118.069969; captureRadius = 10; duration = 139; initialDepth = 484.017526; finalDepth = 486.144071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7366500000001 # Actual altitude: 51.7366500000001 # Commanded vehicle depth:484.017526 # Seafloor depth:-535.754176 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.95; 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 = 206.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 102.053122 meters # Minimum depth: 534.073897 meters looking forward 100.000000 meters along route # Maximum depth: 534.697606 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.073897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.471527; longitude = -118.070193; captureRadius = 10; duration = 102; initialDepth = 484.073897; finalDepth = 484.017526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7366500000001 # Actual altitude: 51.7366500000001 # Commanded vehicle depth:484.073897 # Seafloor depth:-534.073897 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.95; 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 = 206.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 120.682817 meters # Minimum depth: 529.138711 meters looking forward 100.000000 meters along route # Maximum depth: 532.695998 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.138711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.472437; longitude = -118.070357; captureRadius = 10; duration = 120; initialDepth = 479.138711; finalDepth = 484.073897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5572870000001 # Actual altitude: 53.5572870000001 # Commanded vehicle depth:479.138711 # Seafloor depth:-532.695998 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.42; MB_Bottom_Detect_Filter_Max_Range = 214.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 120.682810 meters # Minimum depth: 525.883236 meters looking forward 100.000000 meters along route # Maximum depth: 531.878749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 475.883236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.473513; longitude = -118.070551; captureRadius = 10; duration = 120; initialDepth = 475.883236; finalDepth = 479.138711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5572870000001 # Actual altitude: 53.5572870000001 # Commanded vehicle depth:475.883236 # Seafloor depth:-525.883236 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.42; MB_Bottom_Detect_Filter_Max_Range = 214.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 120.682802 meters # Minimum depth: 532.612855 meters looking forward 100.000000 meters along route # Maximum depth: 536.986547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.612855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.474589; longitude = -118.070745; captureRadius = 10; duration = 120; initialDepth = 482.612855; finalDepth = 475.883236; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:482.612855 # Seafloor depth:-532.612855 # 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 120.682794 meters # Minimum depth: 539.707403 meters looking forward 100.000000 meters along route # Maximum depth: 540.959652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.707403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.475665; longitude = -118.070939; captureRadius = 10; duration = 120; initialDepth = 489.707403; finalDepth = 482.612855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:489.707403 # Seafloor depth:-539.707403 # 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 120.682786 meters # Minimum depth: 542.767715 meters looking forward 100.000000 meters along route # Maximum depth: 545.664498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 492.767715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.476741; longitude = -118.071134; captureRadius = 10; duration = 120; initialDepth = 492.767715; finalDepth = 489.707403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:492.767715 # Seafloor depth:-542.767715 # 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 120.682779 meters # Minimum depth: 536.363735 meters looking forward 100.000000 meters along route # Maximum depth: 542.993156 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 486.363735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.477817; longitude = -118.071328; captureRadius = 10; duration = 120; initialDepth = 486.363735; finalDepth = 492.767715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.629421 # Actual altitude: 56.629421 # Commanded vehicle depth:486.363735 # Seafloor depth:-542.993156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.65; MB_Bottom_Detect_Filter_Max_Range = 226.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 120.682770 meters # Minimum depth: 537.091636 meters looking forward 100.000000 meters along route # Maximum depth: 540.547399 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 487.091636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.478894; longitude = -118.071522; captureRadius = 10; duration = 120; initialDepth = 487.091636; finalDepth = 486.363735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.629421 # Actual altitude: 56.629421 # Commanded vehicle depth:487.091636 # Seafloor depth:-537.091636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.65; MB_Bottom_Detect_Filter_Max_Range = 226.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 120.682763 meters # Minimum depth: 545.749596 meters looking forward 100.000000 meters along route # Maximum depth: 550.390322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.749596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.479970; longitude = -118.071716; captureRadius = 10; duration = 120; initialDepth = 495.749596; finalDepth = 487.091636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:495.749596 # Seafloor depth:-545.749596 # 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 120.682755 meters # Minimum depth: 550.125752 meters looking forward 100.000000 meters along route # Maximum depth: 550.869466 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.125752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.481046; longitude = -118.071910; captureRadius = 10; duration = 120; initialDepth = 500.125752; finalDepth = 495.749596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.743714 # Actual altitude: 50.743714 # Commanded vehicle depth:500.125752 # Seafloor depth:-550.869466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.97; 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 = 202.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 120.682747 meters # Minimum depth: 548.516739 meters looking forward 100.000000 meters along route # Maximum depth: 549.649265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.516739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.482122; longitude = -118.072104; captureRadius = 10; duration = 120; initialDepth = 498.516739; finalDepth = 500.125752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.132526 # Actual altitude: 51.132526 # Commanded vehicle depth:498.516739 # Seafloor depth:-549.649265 # 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 13 # Segment length 120.682740 meters # Minimum depth: 545.888659 meters looking forward 100.000000 meters along route # Maximum depth: 547.442586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.888659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.483198; longitude = -118.072298; captureRadius = 10; duration = 120; initialDepth = 495.888659; finalDepth = 498.516739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.553927 # Actual altitude: 51.553927 # Commanded vehicle depth:495.888659 # Seafloor depth:-547.442586 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 120.682731 meters # Minimum depth: 540.500151 meters looking forward 100.000000 meters along route # Maximum depth: 543.467434 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.500151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.484274; longitude = -118.072492; captureRadius = 10; duration = 120; initialDepth = 490.500151; finalDepth = 495.888659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9672830000001 # Actual altitude: 52.9672830000001 # Commanded vehicle depth:490.500151 # Seafloor depth:-543.467434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.19; MB_Bottom_Detect_Filter_Max_Range = 211.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.601477 meters # Minimum depth: 538.400737 meters looking forward 100.000000 meters along route # Maximum depth: 538.587205 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.400737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.485351; longitude = -118.072686; captureRadius = 10; duration = 122; initialDepth = 488.400737; finalDepth = 490.500151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9672830000001 # Actual altitude: 52.9672830000001 # Commanded vehicle depth:488.400737 # Seafloor depth:-538.587205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.19; MB_Bottom_Detect_Filter_Max_Range = 211.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 118.763963 meters # Minimum depth: 536.551708 meters looking forward 100.000000 meters along route # Maximum depth: 538.486529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 486.551708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.486444; longitude = -118.072883; captureRadius = 10; duration = 118; initialDepth = 486.551708; finalDepth = 488.400737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9348210000001 # Actual altitude: 51.9348210000001 # Commanded vehicle depth:486.551708 # Seafloor depth:-538.486529 # 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 = 155.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 120.682708 meters # Minimum depth: 533.092946 meters looking forward 100.000000 meters along route # Maximum depth: 534.858080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.092946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.487503; longitude = -118.073074; captureRadius = 10; duration = 120; initialDepth = 483.092946; finalDepth = 486.551708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9348210000001 # Actual altitude: 51.9348210000001 # Commanded vehicle depth:483.092946 # Seafloor depth:-534.858080 # 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 = 155.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 120.682700 meters # Minimum depth: 529.411283 meters looking forward 100.000000 meters along route # Maximum depth: 531.423728 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.411283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.488579; longitude = -118.073269; captureRadius = 10; duration = 120; initialDepth = 479.411283; finalDepth = 483.092946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.012445 # Actual altitude: 52.012445 # Commanded vehicle depth:479.411283 # Seafloor depth:-531.423728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 208.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 120.682692 meters # Minimum depth: 528.805073 meters looking forward 100.000000 meters along route # Maximum depth: 529.124551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.805073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.489655; longitude = -118.073463; captureRadius = 10; duration = 120; initialDepth = 478.805073; finalDepth = 479.411283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.012445 # Actual altitude: 52.012445 # Commanded vehicle depth:478.805073 # Seafloor depth:-529.124551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 208.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 120.682685 meters # Minimum depth: 528.935072 meters looking forward 100.000000 meters along route # Maximum depth: 530.695693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.935072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.490731; longitude = -118.073657; captureRadius = 10; duration = 120; initialDepth = 478.935072; finalDepth = 478.805073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.319478 # Actual altitude: 50.319478 # Commanded vehicle depth:478.935072 # Seafloor depth:-528.935072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.28; 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 = 201.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 106.784769 meters # Minimum depth: 528.079651 meters looking forward 100.000000 meters along route # Maximum depth: 530.438805 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.079651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491808; longitude = -118.073851; captureRadius = 10; duration = 106; initialDepth = 478.079651; finalDepth = 478.935072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.359154 # Actual altitude: 52.359154 # Commanded vehicle depth:478.079651 # Seafloor depth:-530.438805 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.44; 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 = 209.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 5.914739 meters # Minimum depth: 525.806931 meters looking forward 100.000000 meters along route # Maximum depth: 528.180316 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 475.806931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492760; longitude = -118.074023; captureRadius = 10; duration = 5; # abortOnTimeout = True; initialDepth = 475.806931; finalDepth = 478.079651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.359154 # Actual altitude: 52.359154 # Commanded vehicle depth:475.806931 # Seafloor depth:-525.806931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.44; 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 = 209.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 144.085261 meters # Minimum depth: 529.028650 meters looking forward 100.000000 meters along route # Maximum depth: 533.469456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.028650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492768; longitude = -118.073960; captureRadius = 10; duration = 144; initialDepth = 479.028650; finalDepth = 475.806931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:479.02865 # Seafloor depth:-529.028650 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 69.118278 meters # Minimum depth: 532.411806 meters looking forward 100.000000 meters along route # Maximum depth: 534.265625 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.411806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492962; longitude = -118.072426; captureRadius = 10; duration = 69; # abortOnTimeout = True; initialDepth = 482.411806; finalDepth = 479.028650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.853819 # Actual altitude: 51.853819 # Commanded vehicle depth:482.411806 # Seafloor depth:-534.265625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 120.682363 meters # Minimum depth: 531.775650 meters looking forward 100.000000 meters along route # Maximum depth: 532.878199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 481.775650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492346; longitude = -118.072315; captureRadius = 10; duration = 120; initialDepth = 481.775650; finalDepth = 482.411806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.853819 # Actual altitude: 51.853819 # Commanded vehicle depth:481.77565 # Seafloor depth:-531.775650 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 120.682371 meters # Minimum depth: 533.722606 meters looking forward 100.000000 meters along route # Maximum depth: 534.246646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.722606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491270; longitude = -118.072121; captureRadius = 10; duration = 120; initialDepth = 483.722606; finalDepth = 481.775650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:483.722606 # Seafloor depth:-533.722606 # 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 120.682378 meters # Minimum depth: 536.032631 meters looking forward 100.000000 meters along route # Maximum depth: 540.111684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 486.032631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.490193; longitude = -118.071927; captureRadius = 10; duration = 120; initialDepth = 486.032631; finalDepth = 483.722606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:486.032631 # Seafloor depth:-536.032631 # 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 120.682386 meters # Minimum depth: 543.540951 meters looking forward 100.000000 meters along route # Maximum depth: 546.416092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 493.540951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.489117; longitude = -118.071733; captureRadius = 10; duration = 120; initialDepth = 493.540951; finalDepth = 486.032631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:493.540951 # Seafloor depth:-543.540951 # 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 120.682394 meters # Minimum depth: 545.130416 meters looking forward 100.000000 meters along route # Maximum depth: 545.951530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.130416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.488041; longitude = -118.071539; captureRadius = 10; duration = 120; initialDepth = 495.130416; finalDepth = 493.540951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8211140000001 # Actual altitude: 50.8211140000001 # Commanded vehicle depth:495.130416 # Seafloor depth:-545.951530 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.28; 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 = 203.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 120.682402 meters # Minimum depth: 545.029263 meters looking forward 100.000000 meters along route # Maximum depth: 545.351142 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.029263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.486965; longitude = -118.071345; captureRadius = 10; duration = 120; initialDepth = 495.029263; finalDepth = 495.130416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8211140000001 # Actual altitude: 50.8211140000001 # Commanded vehicle depth:495.029263 # Seafloor depth:-545.029263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.28; 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 = 203.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 120.682410 meters # Minimum depth: 547.031822 meters looking forward 100.000000 meters along route # Maximum depth: 549.556970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 497.031822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.485889; longitude = -118.071151; captureRadius = 10; duration = 120; initialDepth = 497.031822; finalDepth = 495.029263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:497.031822 # Seafloor depth:-547.031822 # 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 140.139727 meters # Minimum depth: 550.000587 meters looking forward 100.000000 meters along route # Maximum depth: 551.129319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.000587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.484813; longitude = -118.070956; captureRadius = 10; duration = 140; initialDepth = 500.000587; finalDepth = 497.031822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.136141 # Actual altitude: 50.136141 # Commanded vehicle depth:500.000587 # Seafloor depth:-550.136728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.54; 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 = 200.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.225116 meters # Minimum depth: 551.594974 meters looking forward 100.000000 meters along route # Maximum depth: 552.599963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.594974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.483563; longitude = -118.070731; captureRadius = 10; duration = 101; initialDepth = 501.594974; finalDepth = 500.000587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.136141 # Actual altitude: 50.136141 # Commanded vehicle depth:501.594974 # Seafloor depth:-551.594974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.54; 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 = 200.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 120.682433 meters # Minimum depth: 554.207372 meters looking forward 100.000000 meters along route # Maximum depth: 555.712442 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.207372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.482660; longitude = -118.070568; captureRadius = 10; duration = 120; initialDepth = 504.207372; finalDepth = 501.594974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:504.207372 # Seafloor depth:-554.207372 # 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 120.682441 meters # Minimum depth: 557.009916 meters looking forward 100.000000 meters along route # Maximum depth: 559.213002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.009916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.481584; longitude = -118.070374; captureRadius = 10; duration = 120; initialDepth = 507.009916; finalDepth = 504.207372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:507.009916 # Seafloor depth:-557.009916 # 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 120.682449 meters # Minimum depth: 559.377910 meters looking forward 100.000000 meters along route # Maximum depth: 561.133922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.377910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.480508; longitude = -118.070180; captureRadius = 10; duration = 120; initialDepth = 509.377910; finalDepth = 507.009916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:509.37791 # Seafloor depth:-559.377910 # 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 120.682456 meters # Minimum depth: 562.127039 meters looking forward 100.000000 meters along route # Maximum depth: 563.668318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 512.127039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.479432; longitude = -118.069986; captureRadius = 10; duration = 120; initialDepth = 512.127039; finalDepth = 509.377910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:512.127039 # Seafloor depth:-562.127039 # 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 120.682465 meters # Minimum depth: 564.492142 meters looking forward 100.000000 meters along route # Maximum depth: 565.618929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.492142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.478356; longitude = -118.069792; captureRadius = 10; duration = 120; initialDepth = 514.492142; finalDepth = 512.127039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:514.492142 # Seafloor depth:-564.492142 # 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 120.682472 meters # Minimum depth: 565.873018 meters looking forward 100.000000 meters along route # Maximum depth: 566.970502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.873018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.477279; longitude = -118.069598; captureRadius = 10; duration = 120; initialDepth = 515.873018; finalDepth = 514.492142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:515.873018 # Seafloor depth:-565.873018 # 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 120.682480 meters # Minimum depth: 568.127501 meters looking forward 100.000000 meters along route # Maximum depth: 569.111056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.127501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.476203; longitude = -118.069404; captureRadius = 10; duration = 120; initialDepth = 518.127501; finalDepth = 515.873018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:518.127501 # Seafloor depth:-568.127501 # 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 120.682488 meters # Minimum depth: 570.292545 meters looking forward 100.000000 meters along route # Maximum depth: 571.847047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.292545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.475127; longitude = -118.069210; captureRadius = 10; duration = 120; initialDepth = 520.292545; finalDepth = 518.127501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:520.292545 # Seafloor depth:-570.292545 # 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 120.682496 meters # Minimum depth: 572.888407 meters looking forward 100.000000 meters along route # Maximum depth: 575.131918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.888407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.474051; longitude = -118.069016; captureRadius = 10; duration = 120; initialDepth = 522.888407; finalDepth = 520.292545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:522.888407 # Seafloor depth:-572.888407 # 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 120.682503 meters # Minimum depth: 575.064567 meters looking forward 100.000000 meters along route # Maximum depth: 575.662064 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.064567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.472975; longitude = -118.068822; captureRadius = 10; duration = 120; initialDepth = 525.064567; finalDepth = 522.888407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.597497 # Actual altitude: 50.597497 # Commanded vehicle depth:525.064567 # Seafloor depth:-575.662064 # 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 11 # Segment length 120.682512 meters # Minimum depth: 575.530531 meters looking forward 100.000000 meters along route # Maximum depth: 576.337204 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.530531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.471899; longitude = -118.068628; captureRadius = 10; duration = 120; initialDepth = 525.530531; finalDepth = 525.064567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.597497 # Actual altitude: 50.597497 # Commanded vehicle depth:525.530531 # Seafloor depth:-575.530531 # 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 11 # Segment length 120.682519 meters # Minimum depth: 575.740606 meters looking forward 100.000000 meters along route # Maximum depth: 575.898809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.740606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.470822; longitude = -118.068434; captureRadius = 10; duration = 120; initialDepth = 525.740606; finalDepth = 525.530531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:525.740606 # Seafloor depth:-575.740606 # 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 123.598404 meters # Minimum depth: 576.243582 meters looking forward 100.000000 meters along route # Maximum depth: 579.812455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 526.243582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.469746; longitude = -118.068239; captureRadius = 10; duration = 123; initialDepth = 526.243582; finalDepth = 525.740606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:526.243582 # Seafloor depth:-576.243582 # 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 117.766658 meters # Minimum depth: 579.884322 meters looking forward 100.000000 meters along route # Maximum depth: 580.398729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.884322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.468644; longitude = -118.068041; captureRadius = 10; duration = 117; initialDepth = 529.884322; finalDepth = 526.243582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:529.884322 # Seafloor depth:-579.884322 # 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 120.682543 meters # Minimum depth: 581.208436 meters looking forward 100.000000 meters along route # Maximum depth: 581.498085 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.208436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.467594; longitude = -118.067851; captureRadius = 10; duration = 120; initialDepth = 531.208436; finalDepth = 529.884322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2896489999999 # Actual altitude: 50.2896489999999 # Commanded vehicle depth:531.208436 # Seafloor depth:-581.498085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.16; 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 = 201.16; 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 11 # Segment length 120.682551 meters # Minimum depth: 582.209321 meters looking forward 100.000000 meters along route # Maximum depth: 583.920061 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.209321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.466518; longitude = -118.067657; captureRadius = 10; duration = 120; initialDepth = 532.209321; finalDepth = 531.208436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2896489999999 # Actual altitude: 50.2896489999999 # Commanded vehicle depth:532.209321 # Seafloor depth:-582.209321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.16; 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 = 201.16; 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 11 # Segment length 120.682558 meters # Minimum depth: 584.360726 meters looking forward 100.000000 meters along route # Maximum depth: 584.497107 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.360726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.465442; longitude = -118.067463; captureRadius = 10; duration = 120; initialDepth = 534.360726; finalDepth = 532.209321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:534.360726 # Seafloor depth:-584.360726 # 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 120.682566 meters # Minimum depth: 585.127433 meters looking forward 100.000000 meters along route # Maximum depth: 585.295647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.127433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.464365; longitude = -118.067269; captureRadius = 10; duration = 120; initialDepth = 535.127433; finalDepth = 534.360726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:535.127433 # Seafloor depth:-585.127433 # 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 120.682575 meters # Minimum depth: 585.846701 meters looking forward 100.000000 meters along route # Maximum depth: 587.266902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.846701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.463289; longitude = -118.067075; captureRadius = 10; duration = 120; initialDepth = 535.846701; finalDepth = 535.127433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:535.846701 # Seafloor depth:-585.846701 # 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 120.682581 meters # Minimum depth: 588.801158 meters looking forward 100.000000 meters along route # Maximum depth: 589.484196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.801158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.462213; longitude = -118.066881; captureRadius = 10; duration = 120; initialDepth = 538.801158; finalDepth = 535.846701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:538.801158 # Seafloor depth:-588.801158 # 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 111.900604 meters # Minimum depth: 590.434256 meters looking forward 100.000000 meters along route # Maximum depth: 592.171081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.434256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.461137; longitude = -118.066687; captureRadius = 10; duration = 111; initialDepth = 540.434256; finalDepth = 538.801158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:540.434256 # Seafloor depth:-590.434256 # 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 7.564647 meters # Minimum depth: 592.171081 meters looking forward 100.000000 meters along route # Maximum depth: 592.591064 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.171081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.460139; longitude = -118.066507; captureRadius = 10; duration = 7; # abortOnTimeout = True; initialDepth = 542.171081; finalDepth = 540.434256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.419983 # Actual altitude: 50.419983 # Commanded vehicle depth:542.171081 # Seafloor depth:-592.591064 # 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 10 # Segment length 142.435353 meters # Minimum depth: 594.067297 meters looking forward 100.000000 meters along route # Maximum depth: 594.343994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.067297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.460149; longitude = -118.066426; captureRadius = 10; duration = 142; initialDepth = 544.067297; finalDepth = 542.171081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.419983 # Actual altitude: 50.419983 # Commanded vehicle depth:544.067297 # Seafloor depth:-594.067297 # behavior reson { duration = 6; SBP_Power = 0.0; 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 to get to end of line 9 # Segment length 28.896247 meters # Minimum depth: 594.343994 meters looking forward 100.000000 meters along route # Maximum depth: 594.897003 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.343994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.460341; longitude = -118.064911; captureRadius = 10; duration = 28; # abortOnTimeout = True; initialDepth = 544.343994; finalDepth = 544.067297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5530090000001 # Actual altitude: 50.5530090000001 # Commanded vehicle depth:544.343994 # Seafloor depth:-594.897003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.21; 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 = 202.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 120.682268 meters # Minimum depth: 593.165691 meters looking forward 100.000000 meters along route # Maximum depth: 594.606051 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.165691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.460599; longitude = -118.064958; captureRadius = 10; duration = 120; initialDepth = 543.165691; finalDepth = 544.343994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4403599999999 # Actual altitude: 51.4403599999999 # Commanded vehicle depth:543.165691 # Seafloor depth:-594.606051 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.76; 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 = 205.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 123.564323 meters # Minimum depth: 591.380327 meters looking forward 100.000000 meters along route # Maximum depth: 592.095318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.380327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.461675; longitude = -118.065152; captureRadius = 10; duration = 123; initialDepth = 541.380327; finalDepth = 543.165691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4403599999999 # Actual altitude: 51.4403599999999 # Commanded vehicle depth:541.380327 # Seafloor depth:-592.095318 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.76; 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 = 205.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 117.800190 meters # Minimum depth: 590.577305 meters looking forward 100.000000 meters along route # Maximum depth: 591.352645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.577305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.462777; longitude = -118.065350; captureRadius = 10; duration = 117; initialDepth = 540.577305; finalDepth = 541.380327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.77534 # Actual altitude: 50.77534 # Commanded vehicle depth:540.577305 # Seafloor depth:-591.352645 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 120.682245 meters # Minimum depth: 587.975832 meters looking forward 100.000000 meters along route # Maximum depth: 589.209579 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.975832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.463827; longitude = -118.065540; captureRadius = 10; duration = 120; initialDepth = 537.975832; finalDepth = 540.577305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.233747 # Actual altitude: 51.233747 # Commanded vehicle depth:537.975832 # Seafloor depth:-589.209579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 120.682236 meters # Minimum depth: 587.239553 meters looking forward 100.000000 meters along route # Maximum depth: 587.778730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.239553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.464903; longitude = -118.065734; captureRadius = 10; duration = 120; initialDepth = 537.239553; finalDepth = 537.975832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.233747 # Actual altitude: 51.233747 # Commanded vehicle depth:537.239553 # Seafloor depth:-587.778730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 120.682229 meters # Minimum depth: 585.838048 meters looking forward 100.000000 meters along route # Maximum depth: 587.054512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.838048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.465980; longitude = -118.065928; captureRadius = 10; duration = 120; initialDepth = 535.838048; finalDepth = 537.239553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2164640000001 # Actual altitude: 51.2164640000001 # Commanded vehicle depth:535.838048 # Seafloor depth:-587.054512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 120.682221 meters # Minimum depth: 585.178869 meters looking forward 100.000000 meters along route # Maximum depth: 585.472698 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.178869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.467056; longitude = -118.066122; captureRadius = 10; duration = 120; initialDepth = 535.178869; finalDepth = 535.838048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2164640000001 # Actual altitude: 51.2164640000001 # Commanded vehicle depth:535.178869 # Seafloor depth:-585.472698 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 120.682213 meters # Minimum depth: 584.079547 meters looking forward 100.000000 meters along route # Maximum depth: 585.056861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.079547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.468132; longitude = -118.066316; captureRadius = 10; duration = 120; initialDepth = 534.079547; finalDepth = 535.178869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.977314 # Actual altitude: 50.977314 # Commanded vehicle depth:534.079547 # Seafloor depth:-585.056861 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.91; 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 = 203.91; 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 during line 9 # Segment length 120.682206 meters # Minimum depth: 581.634782 meters looking forward 100.000000 meters along route # Maximum depth: 582.957030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.634782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.469208; longitude = -118.066510; captureRadius = 10; duration = 120; initialDepth = 531.634782; finalDepth = 534.079547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3222480000001 # Actual altitude: 51.3222480000001 # Commanded vehicle depth:531.634782 # Seafloor depth:-582.957030 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 120.682197 meters # Minimum depth: 579.137012 meters looking forward 100.000000 meters along route # Maximum depth: 580.161651 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.137012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.470284; longitude = -118.066704; captureRadius = 10; duration = 120; initialDepth = 529.137012; finalDepth = 531.634782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3222480000001 # Actual altitude: 51.3222480000001 # Commanded vehicle depth:529.137012 # Seafloor depth:-580.161651 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 120.682190 meters # Minimum depth: 577.057208 meters looking forward 100.000000 meters along route # Maximum depth: 577.693691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.057208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.471360; longitude = -118.066898; captureRadius = 10; duration = 120; initialDepth = 527.057208; finalDepth = 529.137012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.024639 # Actual altitude: 51.024639 # Commanded vehicle depth:527.057208 # Seafloor depth:-577.693691 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 204.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 120.682182 meters # Minimum depth: 575.629093 meters looking forward 100.000000 meters along route # Maximum depth: 576.199106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.629093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.472437; longitude = -118.067092; captureRadius = 10; duration = 120; initialDepth = 525.629093; finalDepth = 527.057208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.636483 # Actual altitude: 50.636483 # Commanded vehicle depth:525.629093 # Seafloor depth:-576.199106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.55; 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 = 202.55; 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 9 # Segment length 134.603142 meters # Minimum depth: 572.230836 meters looking forward 100.000000 meters along route # Maximum depth: 574.604532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.230836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.473513; longitude = -118.067286; captureRadius = 10; duration = 134; initialDepth = 522.230836; finalDepth = 525.629093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.373696 # Actual altitude: 52.373696 # Commanded vehicle depth:522.230836 # Seafloor depth:-574.604532 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.95; MB_Bottom_Detect_Filter_Max_Range = 209.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 106.761198 meters # Minimum depth: 570.476872 meters looking forward 100.000000 meters along route # Maximum depth: 571.854568 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.476872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.474713; longitude = -118.067503; captureRadius = 10; duration = 106; initialDepth = 520.476872; finalDepth = 522.230836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.373696 # Actual altitude: 52.373696 # Commanded vehicle depth:520.476872 # Seafloor depth:-571.854568 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.95; MB_Bottom_Detect_Filter_Max_Range = 209.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 120.682159 meters # Minimum depth: 570.579117 meters looking forward 100.000000 meters along route # Maximum depth: 571.033433 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.579117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.475665; longitude = -118.067674; captureRadius = 10; duration = 120; initialDepth = 520.579117; finalDepth = 520.476872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.377696 # Actual altitude: 51.377696 # Commanded vehicle depth:520.579117 # Seafloor depth:-571.033433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.51; 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 = 205.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 120.682150 meters # Minimum depth: 567.358050 meters looking forward 100.000000 meters along route # Maximum depth: 569.487056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.358050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.476741; longitude = -118.067868; captureRadius = 10; duration = 120; initialDepth = 517.358050; finalDepth = 520.579117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.129006 # Actual altitude: 52.129006 # Commanded vehicle depth:517.35805 # Seafloor depth:-569.487056 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 208.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 120.682143 meters # Minimum depth: 565.922966 meters looking forward 100.000000 meters along route # Maximum depth: 566.977143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.922966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.477817; longitude = -118.068062; captureRadius = 10; duration = 120; initialDepth = 515.922966; finalDepth = 517.358050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.129006 # Actual altitude: 52.129006 # Commanded vehicle depth:515.922966 # Seafloor depth:-566.977143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 208.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 120.682135 meters # Minimum depth: 563.011412 meters looking forward 100.000000 meters along route # Maximum depth: 565.060633 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.011412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.478894; longitude = -118.068256; captureRadius = 10; duration = 120; initialDepth = 513.011412; finalDepth = 515.922966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0492210000001 # Actual altitude: 52.0492210000001 # Commanded vehicle depth:513.011412 # Seafloor depth:-565.060633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.20; 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 = 208.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 120.682127 meters # Minimum depth: 561.442968 meters looking forward 100.000000 meters along route # Maximum depth: 562.813346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.442968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.479970; longitude = -118.068450; captureRadius = 10; duration = 120; initialDepth = 511.442968; finalDepth = 513.011412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0492210000001 # Actual altitude: 52.0492210000001 # Commanded vehicle depth:511.442968 # Seafloor depth:-562.813346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.20; 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 = 208.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 120.682119 meters # Minimum depth: 559.907095 meters looking forward 100.000000 meters along route # Maximum depth: 560.534200 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.907095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.481046; longitude = -118.068645; captureRadius = 10; duration = 120; initialDepth = 509.907095; finalDepth = 511.442968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3703780000001 # Actual altitude: 51.3703780000001 # Commanded vehicle depth:509.907095 # Seafloor depth:-560.534200 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.48; 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 = 205.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 120.682112 meters # Minimum depth: 559.573625 meters looking forward 100.000000 meters along route # Maximum depth: 560.268618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.573625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.482122; longitude = -118.068839; captureRadius = 10; duration = 120; initialDepth = 509.573625; finalDepth = 509.907095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.694993 # Actual altitude: 50.694993 # Commanded vehicle depth:509.573625 # Seafloor depth:-560.268618 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.78; 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 = 202.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 120.682104 meters # Minimum depth: 555.188712 meters looking forward 100.000000 meters along route # Maximum depth: 557.272629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.188712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.483198; longitude = -118.069033; captureRadius = 10; duration = 120; initialDepth = 505.188712; finalDepth = 509.573625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.083917 # Actual altitude: 52.083917 # Commanded vehicle depth:505.188712 # Seafloor depth:-557.272629 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.34; 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 = 208.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 120.682095 meters # Minimum depth: 552.269535 meters looking forward 100.000000 meters along route # Maximum depth: 553.716766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.269535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.484274; longitude = -118.069227; captureRadius = 10; duration = 120; initialDepth = 502.269535; finalDepth = 505.188712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.083917 # Actual altitude: 52.083917 # Commanded vehicle depth:502.269535 # Seafloor depth:-553.716766 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.34; 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 = 208.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 120.682088 meters # Minimum depth: 550.816577 meters looking forward 100.000000 meters along route # Maximum depth: 551.025617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.816577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.485351; longitude = -118.069421; captureRadius = 10; duration = 120; initialDepth = 500.816577; finalDepth = 502.269535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.447231 # Actual altitude: 51.447231 # Commanded vehicle depth:500.816577 # Seafloor depth:-551.025617 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.79; 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 = 205.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 120.682080 meters # Minimum depth: 548.204304 meters looking forward 100.000000 meters along route # Maximum depth: 550.728544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.204304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.486427; longitude = -118.069615; captureRadius = 10; duration = 120; initialDepth = 498.204304; finalDepth = 500.816577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5242400000001 # Actual altitude: 52.5242400000001 # Commanded vehicle depth:498.204304 # Seafloor depth:-550.728544 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.10; 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 = 210.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 120.682073 meters # Minimum depth: 544.631482 meters looking forward 100.000000 meters along route # Maximum depth: 545.824349 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.631482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.487503; longitude = -118.069809; captureRadius = 10; duration = 120; initialDepth = 494.631482; finalDepth = 498.204304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5242400000001 # Actual altitude: 52.5242400000001 # Commanded vehicle depth:494.631482 # Seafloor depth:-545.824349 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.10; 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 = 210.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 120.682064 meters # Minimum depth: 544.948911 meters looking forward 100.000000 meters along route # Maximum depth: 545.506701 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.948911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.488579; longitude = -118.070003; captureRadius = 10; duration = 120; initialDepth = 494.948911; finalDepth = 494.631482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.192867 # Actual altitude: 51.192867 # Commanded vehicle depth:494.948911 # Seafloor depth:-544.948911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 120.682057 meters # Minimum depth: 544.254001 meters looking forward 100.000000 meters along route # Maximum depth: 544.964478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.254001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.489655; longitude = -118.070197; captureRadius = 10; duration = 120; initialDepth = 494.254001; finalDepth = 494.948911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.710477 # Actual altitude: 50.710477 # Commanded vehicle depth:494.254001 # Seafloor depth:-544.964478 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.84; 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 = 202.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 120.682049 meters # Minimum depth: 540.532543 meters looking forward 100.000000 meters along route # Maximum depth: 543.164179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.532543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.490731; longitude = -118.070391; captureRadius = 10; duration = 120; initialDepth = 490.532543; finalDepth = 494.254001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.631636 # Actual altitude: 52.631636 # Commanded vehicle depth:490.532543 # Seafloor depth:-543.164179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.05; MB_Bottom_Detect_Filter_Max_Range = 210.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 152.131737 meters # Minimum depth: 537.779490 meters looking forward 100.000000 meters along route # Maximum depth: 539.158339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 487.779490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491808; longitude = -118.070585; captureRadius = 10; duration = 152; initialDepth = 487.779490; finalDepth = 490.532543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.631636 # Actual altitude: 52.631636 # Commanded vehicle depth:487.77949 # Seafloor depth:-539.158339 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.05; MB_Bottom_Detect_Filter_Max_Range = 210.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 9.263122 meters # Minimum depth: 536.658493 meters looking forward 100.000000 meters along route # Maximum depth: 538.369682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 486.658493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493164; longitude = -118.070830; captureRadius = 10; duration = 9; # abortOnTimeout = True; initialDepth = 486.658493; finalDepth = 487.779490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3788489999999 # Actual altitude: 51.3788489999999 # Commanded vehicle depth:486.658493 # Seafloor depth:-536.658493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.52; 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 = 205.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 140.736878 meters # Minimum depth: 537.920875 meters looking forward 100.000000 meters along route # Maximum depth: 540.337461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 487.920875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493177; longitude = -118.070731; captureRadius = 10; duration = 140; initialDepth = 487.920875; finalDepth = 486.658493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:487.920875 # Seafloor depth:-537.920875 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 72.392566 meters # Minimum depth: 539.134811 meters looking forward 100.000000 meters along route # Maximum depth: 539.433730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.134811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493366; longitude = -118.069233; captureRadius = 10; duration = 72; # abortOnTimeout = True; initialDepth = 489.134811; finalDepth = 487.920875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:489.134811 # Seafloor depth:-539.134811 # 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 102.409038 meters # Minimum depth: 540.152899 meters looking forward 100.000000 meters along route # Maximum depth: 541.079883 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.152899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492721; longitude = -118.069117; captureRadius = 10; duration = 102; initialDepth = 490.152899; finalDepth = 489.134811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:490.152899 # Seafloor depth:-540.152899 # 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 120.681731 meters # Minimum depth: 542.663760 meters looking forward 100.000000 meters along route # Maximum depth: 544.576676 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 492.663760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491808; longitude = -118.068952; captureRadius = 10; duration = 120; initialDepth = 492.663760; finalDepth = 490.152899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:492.66376 # Seafloor depth:-542.663760 # 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 120.681739 meters # Minimum depth: 545.031181 meters looking forward 100.000000 meters along route # Maximum depth: 546.041846 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.031181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.490731; longitude = -118.068758; captureRadius = 10; duration = 120; initialDepth = 495.031181; finalDepth = 492.663760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:495.031181 # Seafloor depth:-545.031181 # 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 120.681747 meters # Minimum depth: 546.184466 meters looking forward 100.000000 meters along route # Maximum depth: 547.075797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.184466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.489655; longitude = -118.068564; captureRadius = 10; duration = 120; initialDepth = 496.184466; finalDepth = 495.031181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:496.184466 # Seafloor depth:-546.184466 # 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 120.681755 meters # Minimum depth: 547.704511 meters looking forward 100.000000 meters along route # Maximum depth: 547.937094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 497.704511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.488579; longitude = -118.068370; captureRadius = 10; duration = 120; initialDepth = 497.704511; finalDepth = 496.184466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:497.704511 # Seafloor depth:-547.704511 # 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 120.681762 meters # Minimum depth: 548.969965 meters looking forward 100.000000 meters along route # Maximum depth: 551.401731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.969965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.487503; longitude = -118.068176; captureRadius = 10; duration = 120; initialDepth = 498.969965; finalDepth = 497.704511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:498.969965 # Seafloor depth:-548.969965 # 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 120.681770 meters # Minimum depth: 552.846721 meters looking forward 100.000000 meters along route # Maximum depth: 555.136783 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 502.846721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.486427; longitude = -118.067982; captureRadius = 10; duration = 120; initialDepth = 502.846721; finalDepth = 498.969965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:502.846721 # Seafloor depth:-552.846721 # 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 120.681778 meters # Minimum depth: 553.752682 meters looking forward 100.000000 meters along route # Maximum depth: 554.188812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.752682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.485351; longitude = -118.067788; captureRadius = 10; duration = 120; initialDepth = 503.752682; finalDepth = 502.846721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:503.752682 # Seafloor depth:-553.752682 # 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 120.681786 meters # Minimum depth: 556.068304 meters looking forward 100.000000 meters along route # Maximum depth: 557.356162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.068304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.484274; longitude = -118.067594; captureRadius = 10; duration = 120; initialDepth = 506.068304; finalDepth = 503.752682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:506.068304 # Seafloor depth:-556.068304 # 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 120.681794 meters # Minimum depth: 558.414655 meters looking forward 100.000000 meters along route # Maximum depth: 558.999584 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.414655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.483198; longitude = -118.067400; captureRadius = 10; duration = 120; initialDepth = 508.414655; finalDepth = 506.068304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:508.414655 # Seafloor depth:-558.414655 # 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 120.681802 meters # Minimum depth: 560.336080 meters looking forward 100.000000 meters along route # Maximum depth: 561.070626 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 510.336080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.482122; longitude = -118.067206; captureRadius = 10; duration = 120; initialDepth = 510.336080; finalDepth = 508.414655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:510.33608 # Seafloor depth:-560.336080 # 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 120.681809 meters # Minimum depth: 561.556680 meters looking forward 100.000000 meters along route # Maximum depth: 563.790323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.556680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.481046; longitude = -118.067012; captureRadius = 10; duration = 120; initialDepth = 511.556680; finalDepth = 510.336080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:511.55668 # Seafloor depth:-561.556680 # 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 120.681817 meters # Minimum depth: 562.620767 meters looking forward 100.000000 meters along route # Maximum depth: 563.349898 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 512.620767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.479970; longitude = -118.066818; captureRadius = 10; duration = 120; initialDepth = 512.620767; finalDepth = 511.556680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7291310000001 # Actual altitude: 50.7291310000001 # Commanded vehicle depth:512.620767 # Seafloor depth:-563.349898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.92; 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 = 202.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.752195 meters # Minimum depth: 565.938002 meters looking forward 100.000000 meters along route # Maximum depth: 567.551525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.938002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.478894; longitude = -118.066624; captureRadius = 10; duration = 122; initialDepth = 515.938002; finalDepth = 512.620767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7291310000001 # Actual altitude: 50.7291310000001 # Commanded vehicle depth:515.938002 # Seafloor depth:-565.938002 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.92; 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 = 202.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 118.611463 meters # Minimum depth: 567.571938 meters looking forward 100.000000 meters along route # Maximum depth: 569.393004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.571938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.477799; longitude = -118.066426; captureRadius = 10; duration = 118; initialDepth = 517.571938; finalDepth = 515.938002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:517.571938 # Seafloor depth:-567.571938 # 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 120.681841 meters # Minimum depth: 570.760955 meters looking forward 100.000000 meters along route # Maximum depth: 570.956103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.760955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.476741; longitude = -118.066236; captureRadius = 10; duration = 120; initialDepth = 520.760955; finalDepth = 517.571938; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:520.760955 # Seafloor depth:-570.760955 # 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 120.681848 meters # Minimum depth: 571.102927 meters looking forward 100.000000 meters along route # Maximum depth: 571.353810 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.102927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.475665; longitude = -118.066042; captureRadius = 10; duration = 120; initialDepth = 521.102927; finalDepth = 520.760955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:521.102927 # Seafloor depth:-571.102927 # 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 120.681857 meters # Minimum depth: 570.889656 meters looking forward 100.000000 meters along route # Maximum depth: 571.900268 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.889656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.474589; longitude = -118.065848; captureRadius = 10; duration = 120; initialDepth = 520.889656; finalDepth = 521.102927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:520.889656 # Seafloor depth:-570.889656 # 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 120.681864 meters # Minimum depth: 574.767780 meters looking forward 100.000000 meters along route # Maximum depth: 576.703994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 524.767780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.473513; longitude = -118.065654; captureRadius = 10; duration = 120; initialDepth = 524.767780; finalDepth = 520.889656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:524.76778 # Seafloor depth:-574.767780 # 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 120.681872 meters # Minimum depth: 575.362370 meters looking forward 100.000000 meters along route # Maximum depth: 577.515201 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.362370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.472437; longitude = -118.065460; captureRadius = 10; duration = 120; initialDepth = 525.362370; finalDepth = 524.767780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.152831 # Actual altitude: 52.152831 # Commanded vehicle depth:525.36237 # Seafloor depth:-577.515201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.61; 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 = 208.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 120.681880 meters # Minimum depth: 576.621730 meters looking forward 100.000000 meters along route # Maximum depth: 577.421927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 526.621730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.471360; longitude = -118.065266; captureRadius = 10; duration = 120; initialDepth = 526.621730; finalDepth = 525.362370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.152831 # Actual altitude: 52.152831 # Commanded vehicle depth:526.62173 # Seafloor depth:-576.621730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.61; 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 = 208.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 120.681888 meters # Minimum depth: 577.301883 meters looking forward 100.000000 meters along route # Maximum depth: 578.211645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.301883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.470284; longitude = -118.065072; captureRadius = 10; duration = 120; initialDepth = 527.301883; finalDepth = 526.621730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:527.301883 # Seafloor depth:-577.301883 # 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 120.681895 meters # Minimum depth: 579.274445 meters looking forward 100.000000 meters along route # Maximum depth: 580.107704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.274445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.469208; longitude = -118.064878; captureRadius = 10; duration = 120; initialDepth = 529.274445; finalDepth = 527.301883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:529.274445 # Seafloor depth:-579.274445 # 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 120.681904 meters # Minimum depth: 581.114752 meters looking forward 100.000000 meters along route # Maximum depth: 582.000447 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.114752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.468132; longitude = -118.064683; captureRadius = 10; duration = 120; initialDepth = 531.114752; finalDepth = 529.274445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:531.114752 # Seafloor depth:-581.114752 # 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 133.926791 meters # Minimum depth: 582.523527 meters looking forward 100.000000 meters along route # Maximum depth: 584.978386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.523527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.467056; longitude = -118.064489; captureRadius = 10; duration = 133; initialDepth = 532.523527; finalDepth = 531.114752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:532.523527 # Seafloor depth:-582.523527 # 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 107.437039 meters # Minimum depth: 585.282855 meters looking forward 100.000000 meters along route # Maximum depth: 586.311724 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.282855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.465862; longitude = -118.064274; captureRadius = 10; duration = 107; initialDepth = 535.282855; finalDepth = 532.523527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:535.282855 # Seafloor depth:-585.282855 # 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 120.681927 meters # Minimum depth: 586.949016 meters looking forward 100.000000 meters along route # Maximum depth: 587.023553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.949016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.464903; longitude = -118.064101; captureRadius = 10; duration = 120; initialDepth = 536.949016; finalDepth = 535.282855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:536.949016 # Seafloor depth:-586.949016 # 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 120.681934 meters # Minimum depth: 586.535144 meters looking forward 100.000000 meters along route # Maximum depth: 587.811671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.535144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.463827; longitude = -118.063907; captureRadius = 10; duration = 120; initialDepth = 536.535144; finalDepth = 536.949016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2765270000001 # Actual altitude: 51.2765270000001 # Commanded vehicle depth:536.535144 # Seafloor depth:-587.811671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.11; 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 = 205.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 120.681943 meters # Minimum depth: 586.065597 meters looking forward 100.000000 meters along route # Maximum depth: 586.203894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.065597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.462751; longitude = -118.063713; captureRadius = 10; duration = 120; initialDepth = 536.065597; finalDepth = 536.535144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2765270000001 # Actual altitude: 51.2765270000001 # Commanded vehicle depth:536.065597 # Seafloor depth:-586.065597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.11; 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 = 205.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 126.917543 meters # Minimum depth: 583.700824 meters looking forward 100.000000 meters along route # Maximum depth: 586.103626 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.700824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.461675; longitude = -118.063519; captureRadius = 10; duration = 126; initialDepth = 533.700824; finalDepth = 536.065597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.402802 # Actual altitude: 52.402802 # Commanded vehicle depth:533.700824 # Seafloor depth:-586.103626 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 41.280251 meters # Minimum depth: 581.014952 meters looking forward 100.000000 meters along route # Maximum depth: 586.642838 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.014952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.460543; longitude = -118.063315; captureRadius = 10; duration = 41; # abortOnTimeout = True; initialDepth = 531.014952; finalDepth = 533.700824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.627886 # Actual altitude: 55.627886 # Commanded vehicle depth:531.014952 # Seafloor depth:-586.642838 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.25; MB_Bottom_Detect_Filter_Max_Range = 222.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 108.719749 meters # Minimum depth: 546.221645 meters looking forward 100.000000 meters along route # Maximum depth: 568.938976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.221645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.460599; longitude = -118.062876; captureRadius = 10; duration = 108; initialDepth = 496.221645; finalDepth = 531.014952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.7173310000001 # Actual altitude: 72.7173310000001 # Commanded vehicle depth:496.221645 # Seafloor depth:-568.938976 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 290.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.09; MB_Bottom_Detect_Filter_Max_Range = 290.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 43.918165 meters # Minimum depth: 544.377777 meters looking forward 100.000000 meters along route # Maximum depth: 546.221645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.377777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.460745; longitude = -118.061719; captureRadius = 10; duration = 43; # abortOnTimeout = True; initialDepth = 494.377777; finalDepth = 496.221645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.7173310000001 # Actual altitude: 72.7173310000001 # Commanded vehicle depth:494.377777 # Seafloor depth:-544.377777 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 290.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.09; MB_Bottom_Detect_Filter_Max_Range = 290.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 120.681629 meters # Minimum depth: 542.951517 meters looking forward 100.000000 meters along route # Maximum depth: 543.524445 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 492.951517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.461137; longitude = -118.061790; captureRadius = 10; duration = 120; initialDepth = 492.951517; finalDepth = 494.377777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.572928 # Actual altitude: 50.572928 # Commanded vehicle depth:492.951517 # Seafloor depth:-543.524445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.29; 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 = 202.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 120.681621 meters # Minimum depth: 542.046806 meters looking forward 100.000000 meters along route # Maximum depth: 542.556308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 492.046806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.462213; longitude = -118.061984; captureRadius = 10; duration = 120; initialDepth = 492.046806; finalDepth = 492.951517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.572928 # Actual altitude: 50.572928 # Commanded vehicle depth:492.046806 # Seafloor depth:-542.556308 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.29; 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 = 202.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 120.681613 meters # Minimum depth: 542.486563 meters looking forward 100.000000 meters along route # Maximum depth: 543.281867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 492.486563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.463289; longitude = -118.062178; captureRadius = 10; duration = 120; initialDepth = 492.486563; finalDepth = 492.046806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.509502 # Actual altitude: 50.509502 # Commanded vehicle depth:492.486563 # Seafloor depth:-542.486563 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 202.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 120.681605 meters # Minimum depth: 545.689484 meters looking forward 100.000000 meters along route # Maximum depth: 548.679460 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.689484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.464365; longitude = -118.062372; captureRadius = 10; duration = 120; initialDepth = 495.689484; finalDepth = 492.486563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:495.689484 # Seafloor depth:-545.689484 # 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 120.681598 meters # Minimum depth: 553.988112 meters looking forward 100.000000 meters along route # Maximum depth: 555.950660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.988112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.465442; longitude = -118.062566; captureRadius = 10; duration = 120; initialDepth = 503.988112; finalDepth = 495.689484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:503.988112 # Seafloor depth:-553.988112 # 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 120.681589 meters # Minimum depth: 555.173964 meters looking forward 100.000000 meters along route # Maximum depth: 556.664350 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.173964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.466518; longitude = -118.062760; captureRadius = 10; duration = 120; initialDepth = 505.173964; finalDepth = 503.988112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:505.173964 # Seafloor depth:-555.173964 # 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 120.681582 meters # Minimum depth: 559.249332 meters looking forward 100.000000 meters along route # Maximum depth: 560.231553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.249332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.467594; longitude = -118.062954; captureRadius = 10; duration = 120; initialDepth = 509.249332; finalDepth = 505.173964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.982221 # Actual altitude: 50.982221 # Commanded vehicle depth:509.249332 # Seafloor depth:-560.231553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.93; 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 = 203.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 120.681574 meters # Minimum depth: 549.890109 meters looking forward 100.000000 meters along route # Maximum depth: 554.302734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.890109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.468670; longitude = -118.063148; captureRadius = 10; duration = 120; initialDepth = 499.890109; finalDepth = 509.249332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.4126249999999 # Actual altitude: 54.4126249999999 # Commanded vehicle depth:499.890109 # Seafloor depth:-554.302734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.65; 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 = 217.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 120.681567 meters # Minimum depth: 549.376593 meters looking forward 100.000000 meters along route # Maximum depth: 550.301069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.376593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.469746; longitude = -118.063342; captureRadius = 10; duration = 120; initialDepth = 499.376593; finalDepth = 499.890109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.4126249999999 # Actual altitude: 54.4126249999999 # Commanded vehicle depth:499.376593 # Seafloor depth:-549.376593 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.65; 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 = 217.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 124.375936 meters # Minimum depth: 552.993448 meters looking forward 100.000000 meters along route # Maximum depth: 558.632680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.993448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.470822; longitude = -118.063536; captureRadius = 10; duration = 124; initialDepth = 502.993448; finalDepth = 499.376593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:502.993448 # Seafloor depth:-552.993448 # 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 116.987172 meters # Minimum depth: 558.917141 meters looking forward 100.000000 meters along route # Maximum depth: 561.227260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.917141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.471932; longitude = -118.063736; captureRadius = 10; duration = 116; initialDepth = 508.917141; finalDepth = 502.993448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:508.917141 # Seafloor depth:-558.917141 # 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 120.681543 meters # Minimum depth: 563.303732 meters looking forward 100.000000 meters along route # Maximum depth: 564.165032 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.303732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.472975; longitude = -118.063924; captureRadius = 10; duration = 120; initialDepth = 513.303732; finalDepth = 508.917141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:513.303732 # Seafloor depth:-563.303732 # 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 120.681535 meters # Minimum depth: 563.356329 meters looking forward 100.000000 meters along route # Maximum depth: 563.396051 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.356329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.474051; longitude = -118.064118; captureRadius = 10; duration = 120; initialDepth = 513.356329; finalDepth = 513.303732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0397220000001 # Actual altitude: 50.0397220000001 # Commanded vehicle depth:513.356329 # Seafloor depth:-563.396051 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.16; 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 = 200.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 120.681527 meters # Minimum depth: 561.525545 meters looking forward 100.000000 meters along route # Maximum depth: 563.214874 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.525545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.475127; longitude = -118.064312; captureRadius = 10; duration = 120; initialDepth = 511.525545; finalDepth = 513.356329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.689329 # Actual altitude: 51.689329 # Commanded vehicle depth:511.525545 # Seafloor depth:-563.214874 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 206.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 120.681519 meters # Minimum depth: 558.309784 meters looking forward 100.000000 meters along route # Maximum depth: 558.499570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.309784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.476203; longitude = -118.064506; captureRadius = 10; duration = 120; initialDepth = 508.309784; finalDepth = 511.525545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.689329 # Actual altitude: 51.689329 # Commanded vehicle depth:508.309784 # Seafloor depth:-558.309784 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 206.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 120.681511 meters # Minimum depth: 556.132961 meters looking forward 100.000000 meters along route # Maximum depth: 558.598001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.132961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.477279; longitude = -118.064700; captureRadius = 10; duration = 120; initialDepth = 506.132961; finalDepth = 508.309784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.4650399999999 # Actual altitude: 52.4650399999999 # Commanded vehicle depth:506.132961 # Seafloor depth:-558.598001 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.99; MB_Bottom_Detect_Filter_Max_Range = 209.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 120.681504 meters # Minimum depth: 553.588689 meters looking forward 100.000000 meters along route # Maximum depth: 555.658159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.588689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.478356; longitude = -118.064894; captureRadius = 10; duration = 120; initialDepth = 503.588689; finalDepth = 506.132961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.4650399999999 # Actual altitude: 52.4650399999999 # Commanded vehicle depth:503.588689 # Seafloor depth:-555.658159 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.99; MB_Bottom_Detect_Filter_Max_Range = 209.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 120.681496 meters # Minimum depth: 551.876264 meters looking forward 100.000000 meters along route # Maximum depth: 552.718491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.876264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.479432; longitude = -118.065088; captureRadius = 10; duration = 120; initialDepth = 501.876264; finalDepth = 503.588689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0694699999999 # Actual altitude: 52.0694699999999 # Commanded vehicle depth:501.876264 # Seafloor depth:-552.718491 # 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 5 # Segment length 120.681487 meters # Minimum depth: 550.290196 meters looking forward 100.000000 meters along route # Maximum depth: 551.303280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.290196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.480508; longitude = -118.065282; captureRadius = 10; duration = 120; initialDepth = 500.290196; finalDepth = 501.876264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0130839999999 # Actual altitude: 51.0130839999999 # Commanded vehicle depth:500.290196 # Seafloor depth:-551.303280 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 204.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 120.681480 meters # Minimum depth: 549.916400 meters looking forward 100.000000 meters along route # Maximum depth: 550.486235 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.916400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.481584; longitude = -118.065476; captureRadius = 10; duration = 120; initialDepth = 499.916400; finalDepth = 500.290196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0130839999999 # Actual altitude: 51.0130839999999 # Commanded vehicle depth:499.9164 # Seafloor depth:-549.916400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 204.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.685969 meters # Minimum depth: 548.943553 meters looking forward 100.000000 meters along route # Maximum depth: 551.599441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.943553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.482660; longitude = -118.065670; captureRadius = 10; duration = 135; initialDepth = 498.943553; finalDepth = 499.916400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.655888 # Actual altitude: 52.655888 # Commanded vehicle depth:498.943553 # Seafloor depth:-551.599441 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.06; MB_Bottom_Detect_Filter_Max_Range = 210.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.676968 meters # Minimum depth: 546.099429 meters looking forward 100.000000 meters along route # Maximum depth: 548.349811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.099429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.483870; longitude = -118.065888; captureRadius = 10; duration = 105; initialDepth = 496.099429; finalDepth = 498.943553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.655888 # Actual altitude: 52.655888 # Commanded vehicle depth:496.099429 # Seafloor depth:-548.349811 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.06; MB_Bottom_Detect_Filter_Max_Range = 210.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 120.681457 meters # Minimum depth: 544.070214 meters looking forward 100.000000 meters along route # Maximum depth: 544.830910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.070214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.484813; longitude = -118.066058; captureRadius = 10; duration = 120; initialDepth = 494.070214; finalDepth = 496.099429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2503820000001 # Actual altitude: 52.2503820000001 # Commanded vehicle depth:494.070214 # Seafloor depth:-544.830910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 209.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 120.681448 meters # Minimum depth: 539.426105 meters looking forward 100.000000 meters along route # Maximum depth: 544.749515 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.426105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.485889; longitude = -118.066252; captureRadius = 10; duration = 120; initialDepth = 489.426105; finalDepth = 494.070214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.32341 # Actual altitude: 55.32341 # Commanded vehicle depth:489.426105 # Seafloor depth:-544.749515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.13; MB_Bottom_Detect_Filter_Max_Range = 221.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 120.681441 meters # Minimum depth: 536.964254 meters looking forward 100.000000 meters along route # Maximum depth: 538.576219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 486.964254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.486965; longitude = -118.066446; captureRadius = 10; duration = 120; initialDepth = 486.964254; finalDepth = 489.426105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.32341 # Actual altitude: 55.32341 # Commanded vehicle depth:486.964254 # Seafloor depth:-538.576219 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.13; MB_Bottom_Detect_Filter_Max_Range = 221.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 120.681433 meters # Minimum depth: 532.108116 meters looking forward 100.000000 meters along route # Maximum depth: 534.772443 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.108116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.488041; longitude = -118.066640; captureRadius = 10; duration = 120; initialDepth = 482.108116; finalDepth = 486.964254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.664327 # Actual altitude: 52.664327 # Commanded vehicle depth:482.108116 # Seafloor depth:-534.772443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.07; MB_Bottom_Detect_Filter_Max_Range = 210.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 120.681425 meters # Minimum depth: 525.164228 meters looking forward 100.000000 meters along route # Maximum depth: 528.444855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 475.164228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.489117; longitude = -118.066834; captureRadius = 10; duration = 120; initialDepth = 475.164228; finalDepth = 482.108116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.280627 # Actual altitude: 53.280627 # Commanded vehicle depth:475.164228 # Seafloor depth:-528.444855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.12; 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 = 213.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 120.681418 meters # Minimum depth: 523.955460 meters looking forward 100.000000 meters along route # Maximum depth: 524.697135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.955460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.490193; longitude = -118.067028; captureRadius = 10; duration = 120; initialDepth = 473.955460; finalDepth = 475.164228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.280627 # Actual altitude: 53.280627 # Commanded vehicle depth:473.95546 # Seafloor depth:-524.697135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.12; 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 = 213.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 120.681409 meters # Minimum depth: 519.438456 meters looking forward 100.000000 meters along route # Maximum depth: 521.095032 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 469.438456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491270; longitude = -118.067222; captureRadius = 10; duration = 120; initialDepth = 469.438456; finalDepth = 473.955460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.656576 # Actual altitude: 51.656576 # Commanded vehicle depth:469.438456 # Seafloor depth:-521.095032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 137.128358 meters # Minimum depth: 513.735825 meters looking forward 100.000000 meters along route # Maximum depth: 518.367929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 463.735825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492346; longitude = -118.067416; captureRadius = 10; duration = 137; initialDepth = 463.735825; finalDepth = 469.438456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.632104 # Actual altitude: 54.632104 # Commanded vehicle depth:463.735825 # Seafloor depth:-518.367929 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.53; 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 = 218.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 12.608437 meters # Minimum depth: 513.735825 meters looking forward 100.000000 meters along route # Maximum depth: 516.805878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 463.735825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493569; longitude = -118.067637; captureRadius = 10; duration = 12; # abortOnTimeout = True; initialDepth = 463.735825; finalDepth = 463.735825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.632104 # Actual altitude: 54.632104 # Commanded vehicle depth:463.735825 # Seafloor depth:-513.863846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.53; 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 = 218.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 137.391563 meters # Minimum depth: 504.371107 meters looking forward 100.000000 meters along route # Maximum depth: 512.342167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.371107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493586; longitude = -118.067503; captureRadius = 10; duration = 137; initialDepth = 454.371107; finalDepth = 463.735825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.97106 # Actual altitude: 57.97106 # Commanded vehicle depth:454.371107 # Seafloor depth:-512.342167 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.19; MB_Bottom_Detect_Filter_Max_Range = 231.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 99.421951 meters # Minimum depth: 504.388550 meters looking forward 100.000000 meters along route # Maximum depth: 506.013991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.388550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493771; longitude = -118.066040; captureRadius = 10; duration = 99; # abortOnTimeout = True; initialDepth = 454.388550; finalDepth = 454.371107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.97106 # Actual altitude: 57.97106 # Commanded vehicle depth:454.38855 # Seafloor depth:-504.388550 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.19; MB_Bottom_Detect_Filter_Max_Range = 231.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 120.643387 meters # Minimum depth: 506.104430 meters looking forward 100.000000 meters along route # Maximum depth: 507.607185 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.104430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.492884; longitude = -118.065883; captureRadius = 10; duration = 120; initialDepth = 456.104430; finalDepth = 454.388550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:456.10443 # Seafloor depth:-506.104430 # 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 120.643394 meters # Minimum depth: 509.604535 meters looking forward 100.000000 meters along route # Maximum depth: 511.696326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.604535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491808; longitude = -118.065691; captureRadius = 10; duration = 120; initialDepth = 459.604535; finalDepth = 456.104430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:459.604535 # Seafloor depth:-509.604535 # 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 120.643402 meters # Minimum depth: 513.251742 meters looking forward 100.000000 meters along route # Maximum depth: 515.701894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 463.251742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.490731; longitude = -118.065500; captureRadius = 10; duration = 120; initialDepth = 463.251742; finalDepth = 459.604535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:463.251742 # Seafloor depth:-513.251742 # 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 120.643408 meters # Minimum depth: 516.664800 meters looking forward 100.000000 meters along route # Maximum depth: 519.149597 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.664800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.489655; longitude = -118.065309; captureRadius = 10; duration = 120; initialDepth = 466.664800; finalDepth = 463.251742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:466.6648 # Seafloor depth:-516.664800 # 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 120.643415 meters # Minimum depth: 521.325228 meters looking forward 100.000000 meters along route # Maximum depth: 523.862283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.325228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.488579; longitude = -118.065118; captureRadius = 10; duration = 120; initialDepth = 471.325228; finalDepth = 466.664800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:471.325228 # Seafloor depth:-521.325228 # 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 120.643422 meters # Minimum depth: 526.107995 meters looking forward 100.000000 meters along route # Maximum depth: 527.456029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.107995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.487503; longitude = -118.064926; captureRadius = 10; duration = 120; initialDepth = 476.107995; finalDepth = 471.325228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:476.107995 # Seafloor depth:-526.107995 # 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 120.643429 meters # Minimum depth: 527.712014 meters looking forward 100.000000 meters along route # Maximum depth: 528.282369 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 477.712014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.486427; longitude = -118.064735; captureRadius = 10; duration = 120; initialDepth = 477.712014; finalDepth = 476.107995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:477.712014 # Seafloor depth:-527.712014 # 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 120.643436 meters # Minimum depth: 529.518501 meters looking forward 100.000000 meters along route # Maximum depth: 530.810431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.518501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.485351; longitude = -118.064544; captureRadius = 10; duration = 120; initialDepth = 479.518501; finalDepth = 477.712014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:479.518501 # Seafloor depth:-529.518501 # 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 120.643443 meters # Minimum depth: 532.116339 meters looking forward 100.000000 meters along route # Maximum depth: 533.681144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.116339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.484274; longitude = -118.064353; captureRadius = 10; duration = 120; initialDepth = 482.116339; finalDepth = 479.518501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:482.116339 # Seafloor depth:-532.116339 # 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 120.643449 meters # Minimum depth: 535.078468 meters looking forward 100.000000 meters along route # Maximum depth: 536.197159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.078468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.483198; longitude = -118.064161; captureRadius = 10; duration = 120; initialDepth = 485.078468; finalDepth = 482.116339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:485.078468 # Seafloor depth:-535.078468 # 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 120.643457 meters # Minimum depth: 537.053339 meters looking forward 100.000000 meters along route # Maximum depth: 537.387171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 487.053339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.482122; longitude = -118.063970; captureRadius = 10; duration = 120; initialDepth = 487.053339; finalDepth = 485.078468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:487.053339 # Seafloor depth:-537.053339 # 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 120.643464 meters # Minimum depth: 536.973072 meters looking forward 100.000000 meters along route # Maximum depth: 538.360430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 486.973072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.481046; longitude = -118.063779; captureRadius = 10; duration = 120; initialDepth = 486.973072; finalDepth = 487.053339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.985134 # Actual altitude: 50.985134 # Commanded vehicle depth:486.973072 # Seafloor depth:-537.958206 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.94; 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 = 203.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 120.643471 meters # Minimum depth: 531.066627 meters looking forward 100.000000 meters along route # Maximum depth: 533.798579 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 481.066627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.479970; longitude = -118.063588; captureRadius = 10; duration = 120; initialDepth = 481.066627; finalDepth = 486.973072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.731952 # Actual altitude: 52.731952 # Commanded vehicle depth:481.066627 # Seafloor depth:-533.798579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.93; 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 = 210.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 125.168503 meters # Minimum depth: 527.648415 meters looking forward 100.000000 meters along route # Maximum depth: 529.486067 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 477.648415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.478894; longitude = -118.063396; captureRadius = 10; duration = 125; initialDepth = 477.648415; finalDepth = 481.066627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.731952 # Actual altitude: 52.731952 # Commanded vehicle depth:477.648415 # Seafloor depth:-529.486067 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.93; 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 = 210.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 116.118460 meters # Minimum depth: 527.907129 meters looking forward 100.000000 meters along route # Maximum depth: 529.518153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 477.907129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.477777; longitude = -118.063198; captureRadius = 10; duration = 116; initialDepth = 477.907129; finalDepth = 477.648415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.837652 # Actual altitude: 51.837652 # Commanded vehicle depth:477.907129 # Seafloor depth:-527.907129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.35; 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 = 207.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 120.643491 meters # Minimum depth: 526.024614 meters looking forward 100.000000 meters along route # Maximum depth: 529.198314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.024614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.476741; longitude = -118.063014; captureRadius = 10; duration = 120; initialDepth = 476.024614; finalDepth = 477.907129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:476.024614 # Seafloor depth:-526.024614 # 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 120.643499 meters # Minimum depth: 525.401818 meters looking forward 100.000000 meters along route # Maximum depth: 528.098172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 475.401818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.475665; longitude = -118.062823; captureRadius = 10; duration = 120; initialDepth = 475.401818; finalDepth = 476.024614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6963539999999 # Actual altitude: 52.6963539999999 # Commanded vehicle depth:475.401818 # Seafloor depth:-528.098172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.08; MB_Bottom_Detect_Filter_Max_Range = 210.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 120.643506 meters # Minimum depth: 517.074253 meters looking forward 100.000000 meters along route # Maximum depth: 524.340921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.074253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.474589; longitude = -118.062631; captureRadius = 10; duration = 120; initialDepth = 467.074253; finalDepth = 475.401818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.266668 # Actual altitude: 57.266668 # Commanded vehicle depth:467.074253 # Seafloor depth:-524.340921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.91; MB_Bottom_Detect_Filter_Max_Range = 229.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 120.643513 meters # Minimum depth: 511.200322 meters looking forward 100.000000 meters along route # Maximum depth: 512.294867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 461.200322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.473513; longitude = -118.062440; captureRadius = 10; duration = 120; initialDepth = 461.200322; finalDepth = 467.074253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.266668 # Actual altitude: 57.266668 # Commanded vehicle depth:461.200322 # Seafloor depth:-512.294867 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.91; MB_Bottom_Detect_Filter_Max_Range = 229.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 120.643519 meters # Minimum depth: 508.905340 meters looking forward 100.000000 meters along route # Maximum depth: 509.871687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.905340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.472437; longitude = -118.062249; captureRadius = 10; duration = 120; initialDepth = 458.905340; finalDepth = 461.200322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0945449999999 # Actual altitude: 51.0945449999999 # Commanded vehicle depth:458.90534 # Seafloor depth:-509.871687 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 204.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 120.643527 meters # Minimum depth: 508.714625 meters looking forward 100.000000 meters along route # Maximum depth: 508.903680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.714625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.471360; longitude = -118.062058; captureRadius = 10; duration = 120; initialDepth = 458.714625; finalDepth = 458.905340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.966347 # Actual altitude: 50.966347 # Commanded vehicle depth:458.714625 # Seafloor depth:-508.903680 # 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 3 # Segment length 120.643534 meters # Minimum depth: 509.214283 meters looking forward 100.000000 meters along route # Maximum depth: 510.369588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.214283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.470284; longitude = -118.061866; captureRadius = 10; duration = 120; initialDepth = 459.214283; finalDepth = 458.714625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.189055 # Actual altitude: 50.189055 # Commanded vehicle depth:459.214283 # Seafloor depth:-509.214283 # 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 3 # Segment length 120.643540 meters # Minimum depth: 512.332494 meters looking forward 100.000000 meters along route # Maximum depth: 515.460889 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.332494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.469208; longitude = -118.061675; captureRadius = 10; duration = 120; initialDepth = 462.332494; finalDepth = 459.214283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:462.332494 # Seafloor depth:-512.332494 # 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 120.643548 meters # Minimum depth: 519.450808 meters looking forward 100.000000 meters along route # Maximum depth: 523.864487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 469.450808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.468132; longitude = -118.061484; captureRadius = 10; duration = 120; initialDepth = 469.450808; finalDepth = 462.332494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:469.450808 # Seafloor depth:-519.450808 # 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 120.643555 meters # Minimum depth: 530.180459 meters looking forward 100.000000 meters along route # Maximum depth: 539.432915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.180459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.467056; longitude = -118.061293; captureRadius = 10; duration = 120; initialDepth = 480.180459; finalDepth = 469.450808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:480.180459 # Seafloor depth:-530.180459 # 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 120.643561 meters # Minimum depth: 547.287020 meters looking forward 100.000000 meters along route # Maximum depth: 548.463343 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 497.287020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.465980; longitude = -118.061101; captureRadius = 10; duration = 120; initialDepth = 497.287020; finalDepth = 480.180459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:497.28702 # Seafloor depth:-547.287020 # 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 140.750831 meters # Minimum depth: 543.072530 meters looking forward 100.000000 meters along route # Maximum depth: 546.808768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 493.072530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.464903; longitude = -118.060910; captureRadius = 10; duration = 140; initialDepth = 493.072530; finalDepth = 497.287020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.736238 # Actual altitude: 53.736238 # Commanded vehicle depth:493.07253 # Seafloor depth:-546.808768 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.94; 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 = 214.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 53.816442 meters # Minimum depth: 542.876953 meters looking forward 100.000000 meters along route # Maximum depth: 543.380134 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 492.876953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.463648; longitude = -118.060687; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 492.876953; finalDepth = 493.072530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.736238 # Actual altitude: 53.736238 # Commanded vehicle depth:492.876953 # Seafloor depth:-542.876953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.94; 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 = 214.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 107.632579 meters # Minimum depth: 545.373189 meters looking forward 100.000000 meters along route # Maximum depth: 549.041673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.373189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.463827; longitude = -118.060149; captureRadius = 10; duration = 107; initialDepth = 495.373189; finalDepth = 492.876953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:495.373189 # Seafloor depth:-545.373189 # behavior reson { duration = 6; SBP_Power = 0.0; 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 1 # Segment length 80.454753 meters # Minimum depth: 548.159299 meters looking forward 100.000000 meters along route # Maximum depth: 548.631999 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.159299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.464186; longitude = -118.059073; captureRadius = 10; duration = 80; # abortOnTimeout = True; initialDepth = 498.159299; finalDepth = 495.373189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4726999999999 # Actual altitude: 50.4726999999999 # Commanded vehicle depth:498.159299 # Seafloor depth:-548.631999 # 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 1 # Segment length 120.682124 meters # Minimum depth: 542.104617 meters looking forward 100.000000 meters along route # Maximum depth: 546.777428 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 492.104617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.464903; longitude = -118.059202; captureRadius = 10; duration = 120; initialDepth = 492.104617; finalDepth = 498.159299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.672811 # Actual altitude: 54.672811 # Commanded vehicle depth:492.104617 # Seafloor depth:-546.777428 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.87; MB_Bottom_Detect_Filter_Max_Range = 218.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 120.682116 meters # Minimum depth: 531.325902 meters looking forward 100.000000 meters along route # Maximum depth: 536.137827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 481.325902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.465980; longitude = -118.059396; captureRadius = 10; duration = 120; initialDepth = 481.325902; finalDepth = 492.104617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.811925 # Actual altitude: 54.811925 # Commanded vehicle depth:481.325902 # Seafloor depth:-536.137827 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.92; MB_Bottom_Detect_Filter_Max_Range = 219.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 120.682108 meters # Minimum depth: 523.766535 meters looking forward 100.000000 meters along route # Maximum depth: 527.156878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.766535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.467056; longitude = -118.059590; captureRadius = 10; duration = 120; initialDepth = 473.766535; finalDepth = 481.325902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.811925 # Actual altitude: 54.811925 # Commanded vehicle depth:473.766535 # Seafloor depth:-527.156878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.92; MB_Bottom_Detect_Filter_Max_Range = 219.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 120.682100 meters # Minimum depth: 515.254502 meters looking forward 100.000000 meters along route # Maximum depth: 520.895998 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 465.254502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.468132; longitude = -118.059784; captureRadius = 10; duration = 120; initialDepth = 465.254502; finalDepth = 473.766535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.641496 # Actual altitude: 55.641496 # Commanded vehicle depth:465.254502 # Seafloor depth:-520.895998 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.26; MB_Bottom_Detect_Filter_Max_Range = 222.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 120.682092 meters # Minimum depth: 512.231926 meters looking forward 100.000000 meters along route # Maximum depth: 514.991414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.231926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.469208; longitude = -118.059978; captureRadius = 10; duration = 120; initialDepth = 462.231926; finalDepth = 465.254502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.641496 # Actual altitude: 55.641496 # Commanded vehicle depth:462.231926 # Seafloor depth:-514.991414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.26; MB_Bottom_Detect_Filter_Max_Range = 222.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 120.682084 meters # Minimum depth: 509.292504 meters looking forward 100.000000 meters along route # Maximum depth: 510.016269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.292504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.470284; longitude = -118.060172; captureRadius = 10; duration = 120; initialDepth = 459.292504; finalDepth = 462.231926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7594879999999 # Actual altitude: 52.7594879999999 # Commanded vehicle depth:459.292504 # Seafloor depth:-510.016269 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.10; MB_Bottom_Detect_Filter_Max_Range = 211.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 120.682076 meters # Minimum depth: 508.017685 meters looking forward 100.000000 meters along route # Maximum depth: 509.389487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.017685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.471360; longitude = -118.060366; captureRadius = 10; duration = 120; initialDepth = 458.017685; finalDepth = 459.292504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.371802 # Actual altitude: 51.371802 # Commanded vehicle depth:458.017685 # Seafloor depth:-509.389487 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.49; 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 = 205.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 120.682069 meters # Minimum depth: 506.953265 meters looking forward 100.000000 meters along route # Maximum depth: 507.465319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.953265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.472437; longitude = -118.060560; captureRadius = 10; duration = 120; initialDepth = 456.953265; finalDepth = 458.017685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.371802 # Actual altitude: 51.371802 # Commanded vehicle depth:456.953265 # Seafloor depth:-507.465319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.49; 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 = 205.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 120.682061 meters # Minimum depth: 507.462429 meters looking forward 100.000000 meters along route # Maximum depth: 508.354003 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.462429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.473513; longitude = -118.060754; captureRadius = 10; duration = 120; initialDepth = 457.462429; finalDepth = 456.953265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.512054 # Actual altitude: 50.512054 # Commanded vehicle depth:457.462429 # Seafloor depth:-507.462429 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.05; 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 = 202.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 120.682053 meters # Minimum depth: 509.222046 meters looking forward 100.000000 meters along route # Maximum depth: 509.941613 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.222046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.474589; longitude = -118.060949; captureRadius = 10; duration = 120; initialDepth = 459.222046; finalDepth = 457.462429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:459.222046 # Seafloor depth:-509.222046 # 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 120.682044 meters # Minimum depth: 505.895136 meters looking forward 100.000000 meters along route # Maximum depth: 508.420431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.895136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.475665; longitude = -118.061143; captureRadius = 10; duration = 120; initialDepth = 455.895136; finalDepth = 459.222046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.525295 # Actual altitude: 52.525295 # Commanded vehicle depth:455.895136 # Seafloor depth:-508.420431 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.10; 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 = 210.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 120.682038 meters # Minimum depth: 504.894598 meters looking forward 100.000000 meters along route # Maximum depth: 506.583924 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.894598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.476741; longitude = -118.061337; captureRadius = 10; duration = 120; initialDepth = 454.894598; finalDepth = 455.895136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.525295 # Actual altitude: 52.525295 # Commanded vehicle depth:454.894598 # Seafloor depth:-504.894598 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.10; 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 = 210.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 120.682029 meters # Minimum depth: 509.260445 meters looking forward 100.000000 meters along route # Maximum depth: 509.300141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.260445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.477817; longitude = -118.061531; captureRadius = 10; duration = 120; initialDepth = 459.260445; finalDepth = 454.894598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.000388 # Actual altitude: 50.000388 # Commanded vehicle depth:459.260445 # Seafloor depth:-509.260833 # 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 120.682021 meters # Minimum depth: 500.748746 meters looking forward 100.000000 meters along route # Maximum depth: 504.195686 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 450.748746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.478894; longitude = -118.061725; captureRadius = 10; duration = 120; initialDepth = 450.748746; finalDepth = 459.260445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.44694 # Actual altitude: 53.44694 # Commanded vehicle depth:450.748746 # Seafloor depth:-504.195686 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.38; MB_Bottom_Detect_Filter_Max_Range = 213.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 126.217706 meters # Minimum depth: 496.727014 meters looking forward 100.000000 meters along route # Maximum depth: 498.510710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 446.727014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.479970; longitude = -118.061919; captureRadius = 10; duration = 126; initialDepth = 446.727014; finalDepth = 450.748746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.44694 # Actual altitude: 53.44694 # Commanded vehicle depth:446.727014 # Seafloor depth:-498.510710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.38; MB_Bottom_Detect_Filter_Max_Range = 213.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.146313 meters # Minimum depth: 496.753892 meters looking forward 100.000000 meters along route # Maximum depth: 497.955344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 446.753892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.481095; longitude = -118.062122; captureRadius = 10; duration = 115; initialDepth = 446.753892; finalDepth = 446.727014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.783696 # Actual altitude: 51.783696 # Commanded vehicle depth:446.753892 # Seafloor depth:-496.753892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 207.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 120.681998 meters # Minimum depth: 499.822707 meters looking forward 100.000000 meters along route # Maximum depth: 501.598806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 449.822707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.482122; longitude = -118.062307; captureRadius = 10; duration = 120; initialDepth = 449.822707; finalDepth = 446.753892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:449.822707 # Seafloor depth:-499.822707 # 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 120.681990 meters # Minimum depth: 501.533812 meters looking forward 100.000000 meters along route # Maximum depth: 503.299477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 451.533812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.483198; longitude = -118.062501; captureRadius = 10; duration = 120; initialDepth = 451.533812; finalDepth = 449.822707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.765665 # Actual altitude: 51.765665 # Commanded vehicle depth:451.533812 # Seafloor depth:-503.299477 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 207.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 120.681982 meters # Minimum depth: 501.632950 meters looking forward 100.000000 meters along route # Maximum depth: 505.769464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 451.632950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.484274; longitude = -118.062695; captureRadius = 10; duration = 120; initialDepth = 451.632950; finalDepth = 451.533812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.765665 # Actual altitude: 51.765665 # Commanded vehicle depth:451.63295 # Seafloor depth:-501.632950 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 207.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 120.681975 meters # Minimum depth: 513.408631 meters looking forward 100.000000 meters along route # Maximum depth: 518.299507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 463.408631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.485351; longitude = -118.062889; captureRadius = 10; duration = 120; initialDepth = 463.408631; finalDepth = 451.632950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:463.408631 # Seafloor depth:-513.408631 # 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 120.681966 meters # Minimum depth: 518.678434 meters looking forward 100.000000 meters along route # Maximum depth: 518.918196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 468.678434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.486427; longitude = -118.063083; captureRadius = 10; duration = 120; initialDepth = 468.678434; finalDepth = 463.408631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:468.678434 # Seafloor depth:-518.678434 # 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 120.681958 meters # Minimum depth: 516.661448 meters looking forward 100.000000 meters along route # Maximum depth: 517.600924 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.661448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.487503; longitude = -118.063277; captureRadius = 10; duration = 120; initialDepth = 466.661448; finalDepth = 468.678434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.939476 # Actual altitude: 50.939476 # Commanded vehicle depth:466.661448 # Seafloor depth:-517.600924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.76; 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 = 203.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 120.681951 meters # Minimum depth: 514.686057 meters looking forward 100.000000 meters along route # Maximum depth: 515.991183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 464.686057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.488579; longitude = -118.063471; captureRadius = 10; duration = 120; initialDepth = 464.686057; finalDepth = 466.661448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.305126 # Actual altitude: 51.305126 # Commanded vehicle depth:464.686057 # Seafloor depth:-515.991183 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 120.681943 meters # Minimum depth: 513.261147 meters looking forward 100.000000 meters along route # Maximum depth: 513.989611 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 463.261147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.489655; longitude = -118.063665; captureRadius = 10; duration = 120; initialDepth = 463.261147; finalDepth = 464.686057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.305126 # Actual altitude: 51.305126 # Commanded vehicle depth:463.261147 # Seafloor depth:-513.989611 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 120.681935 meters # Minimum depth: 507.194217 meters looking forward 100.000000 meters along route # Maximum depth: 510.307823 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.194217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.490731; longitude = -118.063859; captureRadius = 10; duration = 120; initialDepth = 457.194217; finalDepth = 463.261147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.113606 # Actual altitude: 53.113606 # Commanded vehicle depth:457.194217 # Seafloor depth:-510.307823 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 212.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 137.224097 meters # Minimum depth: 503.112280 meters looking forward 100.000000 meters along route # Maximum depth: 505.827850 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.112280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.491808; longitude = -118.064053; captureRadius = 10; duration = 137; initialDepth = 453.112280; finalDepth = 457.194217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.113606 # Actual altitude: 53.113606 # Commanded vehicle depth:453.11228 # Seafloor depth:-505.827850 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 212.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.574973 meters # Minimum depth: 501.209585 meters looking forward 100.000000 meters along route # Maximum depth: 502.715158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 770.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 451.209585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.493031; longitude = -118.064274; captureRadius = 10; duration = 105; initialDepth = 451.209585; finalDepth = 453.112280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.71557 # Actual altitude: 52.71557 # Commanded vehicle depth:451.209585 # Seafloor depth:-502.715158 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.86; 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 = 210.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.15; 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: 51.505573 # Actual altitude: 51.505573 # Commanded vehicle depth:451.121552 # Seafloor depth:-501.121552 # 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 = 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; 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: 501.121552 meters looking forward 100.000000 meters along route # Maximum depth: 501.735822 meters looking forward 100.000000 meters along route # Vehicle depth: 451.121552 meters behavior waypoint { latitude = 33.493973; longitude = -118.064444; captureRadius = 10; duration = 500; depth = 451.121552; speed = 1.500000; } behavior setpoint { duration = 180; heading = 270.0; speed = 0.0; verticalMode = pitch; pitch = 0; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 451.121552 meters set by local depth and desired altitude behavior descend { duration = 1442; 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: 501.121552 meters looking forward 100.000000 meters along route # Maximum depth: 501.735822 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 33.493973; longitude = -118.064444; captureRadius = 10; duration = 500; depth = 50.000000; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 221.0; 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 = 221.0; 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; } # ####################################################### #######################################################