# 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_6v3.rte # Mission File: 20070715MAUV.cfg # Distance: 45628.889205 (m) # Estimated Time: 33609 (s) 9.336 (hr) # Abort Time: 32571 (s) # changed to 8.75 hours = 31500 sec # Max battery life: 36000 (s) # Safety margin: 1800 (s) # Ascend time: 1628 (s) # Way Points: 32 # Route Points: 468 # 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: 775 (m) # Abort Vehicle Depth: 800 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 100 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 0.583 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -117.753276 33.193281 -793.143616 0.000000 3 # 1 -117.783540 33.191077 -792.266602 2831.733263 4 # 2 -117.783363 33.189756 -792.232544 2979.120074 3 # 3 -117.753112 33.191940 -792.198547 5809.497867 4 # 4 -117.752973 33.190593 -791.603149 5959.401147 3 # 5 -117.783258 33.188383 -792.206482 8793.228019 4 # 6 -117.783118 33.187035 -792.279297 8943.250541 3 # 7 -117.752834 33.189245 -790.934631 11777.027556 4 # 8 -117.752695 33.187897 -789.722595 11927.041255 3 # 9 -117.782979 33.185688 -792.240295 14760.851685 4 # 10 -117.782840 33.184340 -792.122131 14910.866089 3 # 11 -117.752556 33.186549 -787.979675 17744.719531 4 # 12 -117.752418 33.185201 -788.100647 17894.725169 3 # 13 -117.782700 33.182992 -792.108582 20728.435865 4 # 14 -117.782561 33.181644 -793.027588 20878.450233 3 # 15 -117.752279 33.183853 -789.687073 23712.203936 4 # 16 -117.752140 33.182505 -792.400879 23862.217562 3 # 17 -117.782422 33.180296 -793.588867 26696.014270 4 # 18 -117.782283 33.178948 -794.118164 26846.028601 3 # 19 -117.752001 33.181157 -794.171570 29679.868313 4 # 20 -117.751862 33.179809 -795.281433 29829.881902 3 # 21 -117.782143 33.177601 -794.596741 32663.662136 4 # 22 -117.782004 33.176253 -794.971863 32813.676430 3 # 23 -117.751723 33.178462 -796.357056 35647.509227 4 # 24 -117.751585 33.177114 -796.911194 35797.514755 3 # 25 -117.781867 33.174982 -795.382263 38630.757202 4 # 26 -117.770944 33.174598 -795.476440 39650.076947 3 # 27 -117.772759 33.192953 -789.156738 41692.126553 4 # 28 -117.768211 33.193260 -789.069153 42117.444965 3 # 29 -117.766191 33.175045 -795.359070 44145.710118 4 # 30 -117.761395 33.175353 -794.559082 44594.174835 1 # 31 -117.762455 33.184643 -791.072647 45628.889205 1 # # A total of 468 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 = 775.000000; abortDepth = 800.000000; minAltitude = 50.000000; abortAltitude = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 15; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1628; 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 31 # Segment length 90.104376 meters # Minimum depth: 791.072647 meters looking forward 100.000000 meters along route # Maximum depth: 791.427523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.072647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184643; longitude = -117.762455; captureRadius = 10; duration = 90; # abortOnTimeout = True; initialDepth = 741.072647; finalDepth = 741.072647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:741.072647 # Seafloor depth:-791.072647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 119.429119 meters # Minimum depth: 792.317091 meters looking forward 100.000000 meters along route # Maximum depth: 793.259949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.317091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183834; longitude = -117.762363; captureRadius = 10; duration = 119; initialDepth = 742.317091; finalDepth = 741.072647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:742.317091 # Seafloor depth:-792.317091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 119.429111 meters # Minimum depth: 793.207635 meters looking forward 100.000000 meters along route # Maximum depth: 793.220773 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.207635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182762; longitude = -117.762240; captureRadius = 10; duration = 119; initialDepth = 743.207635; finalDepth = 742.317091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.013138 # Actual altitude: 50.013138 # Commanded vehicle depth:743.207635 # Seafloor depth:-793.220773 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 119.429100 meters # Minimum depth: 793.225010 meters looking forward 100.000000 meters along route # Maximum depth: 793.280495 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.225010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181689; longitude = -117.762118; captureRadius = 10; duration = 119; initialDepth = 743.225010; finalDepth = 743.207635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.013138 # Actual altitude: 50.013138 # Commanded vehicle depth:743.22501 # Seafloor depth:-793.225010 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 122.664120 meters # Minimum depth: 793.299554 meters looking forward 100.000000 meters along route # Maximum depth: 793.420015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.299554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180617; longitude = -117.761996; captureRadius = 10; duration = 122; initialDepth = 743.299554; finalDepth = 743.225010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.299554 # Seafloor depth:-793.299554 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 116.194054 meters # Minimum depth: 793.424294 meters looking forward 100.000000 meters along route # Maximum depth: 793.559063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.424294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.179516; longitude = -117.761870; captureRadius = 10; duration = 116; initialDepth = 743.424294; finalDepth = 743.299554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.424294 # Seafloor depth:-793.424294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 119.429073 meters # Minimum depth: 793.599875 meters looking forward 100.000000 meters along route # Maximum depth: 793.796360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.599875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.178473; longitude = -117.761751; captureRadius = 10; duration = 119; initialDepth = 743.599875; finalDepth = 743.424294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.599875 # Seafloor depth:-793.599875 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 119.429063 meters # Minimum depth: 793.853735 meters looking forward 100.000000 meters along route # Maximum depth: 794.115787 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.853735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.177400; longitude = -117.761629; captureRadius = 10; duration = 119; initialDepth = 743.853735; finalDepth = 743.599875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.853735 # Seafloor depth:-793.853735 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 108.606354 meters # Minimum depth: 794.190569 meters looking forward 100.000000 meters along route # Maximum depth: 794.526433 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.190569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.176328; longitude = -117.761506; captureRadius = 10; duration = 108; initialDepth = 744.190569; finalDepth = 743.853735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:744.190569 # Seafloor depth:-794.190569 # 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 30 # Segment length 44.415239 meters # Minimum depth: 794.408261 meters looking forward 100.000000 meters along route # Maximum depth: 794.643028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.408261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.175353; longitude = -117.761395; captureRadius = 10; duration = 44; # abortOnTimeout = True; initialDepth = 744.408261; finalDepth = 744.190569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.150821 # Actual altitude: 50.150821 # Commanded vehicle depth:744.408261 # Seafloor depth:-794.559082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.60; 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 = 200.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 100.266056 meters # Minimum depth: 794.696726 meters looking forward 100.000000 meters along route # Maximum depth: 794.936654 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.696726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.175322; longitude = -117.761870; captureRadius = 10; duration = 100; initialDepth = 744.696726; finalDepth = 744.408261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.150821 # Actual altitude: 50.150821 # Commanded vehicle depth:744.696726 # Seafloor depth:-794.696726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.60; 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 = 200.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 100.266151 meters # Minimum depth: 794.944165 meters looking forward 100.000000 meters along route # Maximum depth: 795.113783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.944165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.175254; longitude = -117.762942; captureRadius = 10; duration = 100; initialDepth = 744.944165; finalDepth = 744.696726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:744.944165 # Seafloor depth:-794.944165 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 100.266247 meters # Minimum depth: 795.151982 meters looking forward 100.000000 meters along route # Maximum depth: 795.278678 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.151982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.175185; longitude = -117.764015; captureRadius = 10; duration = 100; initialDepth = 745.151982; finalDepth = 744.944165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:745.151982 # Seafloor depth:-795.151982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 103.251024 meters # Minimum depth: 795.305244 meters looking forward 100.000000 meters along route # Maximum depth: 795.400795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.305244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.175116; longitude = -117.765087; captureRadius = 10; duration = 103; initialDepth = 745.305244; finalDepth = 745.151982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:745.305244 # Seafloor depth:-795.305244 # 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 29 # Segment length 71.235814 meters # Minimum depth: 795.219652 meters looking forward 100.000000 meters along route # Maximum depth: 795.400795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.219652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.175045; longitude = -117.766191; captureRadius = 10; duration = 71; # abortOnTimeout = True; initialDepth = 745.219652; finalDepth = 745.305244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.139418 # Actual altitude: 50.139418 # Commanded vehicle depth:745.219652 # Seafloor depth:-795.359070 # 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 29 # Segment length 112.046625 meters # Minimum depth: 794.814192 meters looking forward 100.000000 meters along route # Maximum depth: 795.132409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.814192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.175685; longitude = -117.766262; captureRadius = 10; duration = 112; initialDepth = 744.814192; finalDepth = 745.219652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.318217 # Actual altitude: 50.318217 # Commanded vehicle depth:744.814192 # Seafloor depth:-795.132409 # 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 = 150.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 102.871559 meters # Minimum depth: 794.541644 meters looking forward 100.000000 meters along route # Maximum depth: 794.763912 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.541644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.176691; longitude = -117.766374; captureRadius = 10; duration = 102; initialDepth = 744.541644; finalDepth = 744.814192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.318217 # Actual altitude: 50.318217 # Commanded vehicle depth:744.541644 # Seafloor depth:-794.763912 # 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 = 150.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 112.460401 meters # Minimum depth: 794.267838 meters looking forward 100.000000 meters along route # Maximum depth: 794.481016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.267838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.177615; longitude = -117.766476; captureRadius = 10; duration = 112; initialDepth = 744.267838; finalDepth = 744.541644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.222268 # Actual altitude: 50.222268 # Commanded vehicle depth:744.267838 # Seafloor depth:-794.481016 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 102.457816 meters # Minimum depth: 794.095097 meters looking forward 100.000000 meters along route # Maximum depth: 794.234851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.095097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.178625; longitude = -117.766588; captureRadius = 10; duration = 102; initialDepth = 744.095097; finalDepth = 744.267838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.213178 # Actual altitude: 50.213178 # Commanded vehicle depth:744.095097 # Seafloor depth:-794.234851 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.85; 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 = 200.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 112.874177 meters # Minimum depth: 793.944872 meters looking forward 100.000000 meters along route # Maximum depth: 794.058763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.944872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.179545; longitude = -117.766690; captureRadius = 10; duration = 112; initialDepth = 743.944872; finalDepth = 744.095097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.139754 # Actual altitude: 50.139754 # Commanded vehicle depth:743.944872 # Seafloor depth:-794.058763 # 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 29 # Segment length 102.044072 meters # Minimum depth: 793.887543 meters looking forward 100.000000 meters along route # Maximum depth: 793.930498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.887543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180559; longitude = -117.766802; captureRadius = 10; duration = 102; initialDepth = 743.887543; finalDepth = 743.944872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.113891 # Actual altitude: 50.113891 # Commanded vehicle depth:743.887543 # Seafloor depth:-793.930498 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.46; 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 = 200.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 119.399042 meters # Minimum depth: 793.883707 meters looking forward 100.000000 meters along route # Maximum depth: 793.966913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.883707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181475; longitude = -117.766904; captureRadius = 10; duration = 119; initialDepth = 743.883707; finalDepth = 743.887543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0429549999999 # Actual altitude: 50.0429549999999 # Commanded vehicle depth:743.883707 # Seafloor depth:-793.883707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.17; 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 = 200.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 119.399051 meters # Minimum depth: 793.977620 meters looking forward 100.000000 meters along route # Maximum depth: 794.586385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.977620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182547; longitude = -117.767023; captureRadius = 10; duration = 119; initialDepth = 743.977620; finalDepth = 743.883707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.97762 # Seafloor depth:-793.977620 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 119.399062 meters # Minimum depth: 793.850193 meters looking forward 100.000000 meters along route # Maximum depth: 794.359181 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.850193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183620; longitude = -117.767142; captureRadius = 10; duration = 119; initialDepth = 743.850193; finalDepth = 743.977620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0052020000001 # Actual altitude: 50.0052020000001 # Commanded vehicle depth:743.850193 # Seafloor depth:-793.855395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 119.399071 meters # Minimum depth: 792.606822 meters looking forward 100.000000 meters along route # Maximum depth: 793.746994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.606822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184692; longitude = -117.767261; captureRadius = 10; duration = 119; initialDepth = 742.606822; finalDepth = 743.850193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.140172 # Actual altitude: 51.140172 # Commanded vehicle depth:742.606822 # Seafloor depth:-793.746994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 119.399082 meters # Minimum depth: 791.739413 meters looking forward 100.000000 meters along route # Maximum depth: 792.411474 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.739413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185764; longitude = -117.767380; captureRadius = 10; duration = 119; initialDepth = 741.739413; finalDepth = 742.606822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.140172 # Actual altitude: 51.140172 # Commanded vehicle depth:741.739413 # Seafloor depth:-792.411474 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 119.399092 meters # Minimum depth: 791.034390 meters looking forward 100.000000 meters along route # Maximum depth: 791.590612 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.034390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186836; longitude = -117.767499; captureRadius = 10; duration = 119; initialDepth = 741.034390; finalDepth = 741.739413; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.672061 # Actual altitude: 50.672061 # Commanded vehicle depth:741.03439 # Seafloor depth:-791.590612 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.69; 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 = 202.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 119.399101 meters # Minimum depth: 790.347851 meters looking forward 100.000000 meters along route # Maximum depth: 790.898630 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.347851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187909; longitude = -117.767618; captureRadius = 10; duration = 119; initialDepth = 740.347851; finalDepth = 741.034390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5562219999999 # Actual altitude: 50.5562219999999 # Commanded vehicle depth:740.347851 # Seafloor depth:-790.898630 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.22; 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 = 202.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 119.399112 meters # Minimum depth: 789.539719 meters looking forward 100.000000 meters along route # Maximum depth: 790.198484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.539719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188981; longitude = -117.767736; captureRadius = 10; duration = 119; initialDepth = 739.539719; finalDepth = 740.347851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.658765 # Actual altitude: 50.658765 # Commanded vehicle depth:739.539719 # Seafloor depth:-790.198484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.64; 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 = 202.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 119.399122 meters # Minimum depth: 788.727517 meters looking forward 100.000000 meters along route # Maximum depth: 789.211124 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.727517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190053; longitude = -117.767855; captureRadius = 10; duration = 119; initialDepth = 738.727517; finalDepth = 739.539719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.658765 # Actual altitude: 50.658765 # Commanded vehicle depth:738.727517 # Seafloor depth:-789.211124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.64; 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 = 202.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 119.399131 meters # Minimum depth: 788.653857 meters looking forward 100.000000 meters along route # Maximum depth: 789.255649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.653857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191125; longitude = -117.767974; captureRadius = 10; duration = 119; initialDepth = 738.653857; finalDepth = 738.727517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.483607 # Actual altitude: 50.483607 # Commanded vehicle depth:738.653857 # Seafloor depth:-788.653857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 118.283823 meters # Minimum depth: 789.096021 meters looking forward 100.000000 meters along route # Maximum depth: 789.268091 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.096021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192198; longitude = -117.768093; captureRadius = 10; duration = 118; initialDepth = 739.096021; finalDepth = 738.653857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1720700000001 # Actual altitude: 50.1720700000001 # Commanded vehicle depth:739.096021 # Seafloor depth:-789.268091 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 8.662248 meters # Minimum depth: 789.069153 meters looking forward 100.000000 meters along route # Maximum depth: 789.205801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.069153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.193260; longitude = -117.768211; captureRadius = 10; duration = 8; # abortOnTimeout = True; initialDepth = 739.069153; finalDepth = 739.096021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1720700000001 # Actual altitude: 50.1720700000001 # Commanded vehicle depth:739.069153 # Seafloor depth:-789.069153 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 100.276328 meters # Minimum depth: 789.002203 meters looking forward 100.000000 meters along route # Maximum depth: 789.040347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.002203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.193254; longitude = -117.768304; captureRadius = 10; duration = 100; initialDepth = 739.002203; finalDepth = 739.069153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.038144 # Actual altitude: 50.038144 # Commanded vehicle depth:739.002203 # Seafloor depth:-789.040347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.15; 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 = 200.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 100.276429 meters # Minimum depth: 788.970560 meters looking forward 100.000000 meters along route # Maximum depth: 788.992673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.970560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.193181; longitude = -117.769376; captureRadius = 10; duration = 100; initialDepth = 738.970560; finalDepth = 739.002203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.038144 # Actual altitude: 50.038144 # Commanded vehicle depth:738.97056 # Seafloor depth:-788.992673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.15; 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 = 200.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 100.276528 meters # Minimum depth: 788.970443 meters looking forward 100.000000 meters along route # Maximum depth: 788.999871 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.970443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.193109; longitude = -117.770448; captureRadius = 10; duration = 100; initialDepth = 738.970443; finalDepth = 738.970560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.022113 # Actual altitude: 50.022113 # Commanded vehicle depth:738.970443 # Seafloor depth:-788.970443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 115.826879 meters # Minimum depth: 789.016568 meters looking forward 100.000000 meters along route # Maximum depth: 789.141304 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.016568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.193037; longitude = -117.771520; captureRadius = 10; duration = 115; initialDepth = 739.016568; finalDepth = 738.970443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:739.016568 # Seafloor depth:-789.016568 # 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 27 # Segment length 12.448446 meters # Minimum depth: 789.057498 meters looking forward 100.000000 meters along route # Maximum depth: 789.156738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.057498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192953; longitude = -117.772759; captureRadius = 10; duration = 12; # abortOnTimeout = True; initialDepth = 739.057498; finalDepth = 739.016568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.09924 # Actual altitude: 50.09924 # Commanded vehicle depth:739.057498 # Seafloor depth:-789.156738 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.04; MB_Bottom_Detect_Filter_Max_Range = 200.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 119.293730 meters # Minimum depth: 789.000287 meters looking forward 100.000000 meters along route # Maximum depth: 789.149131 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.000287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192841; longitude = -117.772748; captureRadius = 10; duration = 119; initialDepth = 739.000287; finalDepth = 739.057498; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1488440000001 # Actual altitude: 50.1488440000001 # Commanded vehicle depth:739.000287 # Seafloor depth:-789.149131 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.60; 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 = 200.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 119.293717 meters # Minimum depth: 788.757311 meters looking forward 100.000000 meters along route # Maximum depth: 788.957853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.757311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191769; longitude = -117.772642; captureRadius = 10; duration = 119; initialDepth = 738.757311; finalDepth = 739.000287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.200542 # Actual altitude: 50.200542 # Commanded vehicle depth:738.757311 # Seafloor depth:-788.957853 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 119.293705 meters # Minimum depth: 788.424866 meters looking forward 100.000000 meters along route # Maximum depth: 788.698642 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.424866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190697; longitude = -117.772536; captureRadius = 10; duration = 119; initialDepth = 738.424866; finalDepth = 738.757311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.273776 # Actual altitude: 50.273776 # Commanded vehicle depth:738.424866 # Seafloor depth:-788.698642 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.10; 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 = 201.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 119.293693 meters # Minimum depth: 788.317268 meters looking forward 100.000000 meters along route # Maximum depth: 788.865532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.317268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189624; longitude = -117.772430; captureRadius = 10; duration = 119; initialDepth = 738.317268; finalDepth = 738.424866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.273776 # Actual altitude: 50.273776 # Commanded vehicle depth:738.317268 # Seafloor depth:-788.362562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.10; 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 = 201.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 119.293680 meters # Minimum depth: 789.449486 meters looking forward 100.000000 meters along route # Maximum depth: 792.594043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.449486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188552; longitude = -117.772324; captureRadius = 10; duration = 119; initialDepth = 739.449486; finalDepth = 738.317268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.045294 # Actual altitude: 50.045294 # Commanded vehicle depth:739.449486 # Seafloor depth:-789.449486 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.18; 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 = 200.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 119.293668 meters # Minimum depth: 790.088493 meters looking forward 100.000000 meters along route # Maximum depth: 790.664380 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.088493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187480; longitude = -117.772218; captureRadius = 10; duration = 119; initialDepth = 740.088493; finalDepth = 739.449486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:740.088493 # Seafloor depth:-790.088493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 119.293655 meters # Minimum depth: 790.794934 meters looking forward 100.000000 meters along route # Maximum depth: 791.325529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.794934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186407; longitude = -117.772112; captureRadius = 10; duration = 119; initialDepth = 740.794934; finalDepth = 740.088493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:740.794934 # Seafloor depth:-790.794934 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 119.293643 meters # Minimum depth: 791.448267 meters looking forward 100.000000 meters along route # Maximum depth: 791.634303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.448267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185335; longitude = -117.772006; captureRadius = 10; duration = 119; initialDepth = 741.448267; finalDepth = 740.794934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:741.448267 # Seafloor depth:-791.448267 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 119.293631 meters # Minimum depth: 791.748869 meters looking forward 100.000000 meters along route # Maximum depth: 793.297673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.748869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184263; longitude = -117.771900; captureRadius = 10; duration = 119; initialDepth = 741.748869; finalDepth = 741.448267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:741.748869 # Seafloor depth:-791.748869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 119.293618 meters # Minimum depth: 792.406386 meters looking forward 100.000000 meters along route # Maximum depth: 792.780222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.406386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183191; longitude = -117.771794; captureRadius = 10; duration = 119; initialDepth = 742.406386; finalDepth = 741.748869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:742.406386 # Seafloor depth:-792.406386 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 119.293606 meters # Minimum depth: 792.854180 meters looking forward 100.000000 meters along route # Maximum depth: 793.114289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.854180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182118; longitude = -117.771688; captureRadius = 10; duration = 119; initialDepth = 742.854180; finalDepth = 742.406386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:742.85418 # Seafloor depth:-792.854180 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 119.293594 meters # Minimum depth: 793.177464 meters looking forward 100.000000 meters along route # Maximum depth: 793.428259 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.177464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181046; longitude = -117.771582; captureRadius = 10; duration = 119; initialDepth = 743.177464; finalDepth = 742.854180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.177464 # Seafloor depth:-793.177464 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 119.293581 meters # Minimum depth: 793.492336 meters looking forward 100.000000 meters along route # Maximum depth: 793.750821 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.492336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.179974; longitude = -117.771476; captureRadius = 10; duration = 119; initialDepth = 743.492336; finalDepth = 743.177464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.492336 # Seafloor depth:-793.492336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 119.293569 meters # Minimum depth: 793.817073 meters looking forward 100.000000 meters along route # Maximum depth: 794.092824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.817073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.178902; longitude = -117.771370; captureRadius = 10; duration = 119; initialDepth = 743.817073; finalDepth = 743.492336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.817073 # Seafloor depth:-793.817073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 119.293556 meters # Minimum depth: 794.164646 meters looking forward 100.000000 meters along route # Maximum depth: 794.466755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.164646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.177829; longitude = -117.771264; captureRadius = 10; duration = 119; initialDepth = 744.164646; finalDepth = 743.817073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:744.164646 # Seafloor depth:-794.164646 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 119.293544 meters # Minimum depth: 794.544568 meters looking forward 100.000000 meters along route # Maximum depth: 794.875900 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.544568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.176757; longitude = -117.771157; captureRadius = 10; duration = 119; initialDepth = 744.544568; finalDepth = 744.164646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:744.544568 # Seafloor depth:-794.544568 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 120.902970 meters # Minimum depth: 794.963246 meters looking forward 100.000000 meters along route # Maximum depth: 795.430167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.963246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.175685; longitude = -117.771051; captureRadius = 10; duration = 120; initialDepth = 744.963246; finalDepth = 744.544568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:744.963246 # Seafloor depth:-794.963246 # 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 26 # Segment length 13.767951 meters # Minimum depth: 795.144813 meters looking forward 100.000000 meters along route # Maximum depth: 795.476440 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.144813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.174598; longitude = -117.770944; captureRadius = 10; duration = 13; # abortOnTimeout = True; initialDepth = 745.144813; finalDepth = 744.963246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.331627 # Actual altitude: 50.331627 # Commanded vehicle depth:745.144813 # Seafloor depth:-795.476440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.33; 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 = 201.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 100.063190 meters # Minimum depth: 795.344419 meters looking forward 100.000000 meters along route # Maximum depth: 795.423436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.344419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.174603; longitude = -117.771092; captureRadius = 10; duration = 100; initialDepth = 745.344419; finalDepth = 745.144813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.331627 # Actual altitude: 50.331627 # Commanded vehicle depth:745.344419 # Seafloor depth:-795.423436 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.33; 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 = 201.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 100.063165 meters # Minimum depth: 795.240485 meters looking forward 100.000000 meters along route # Maximum depth: 795.322865 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.240485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.174641; longitude = -117.772164; captureRadius = 10; duration = 100; initialDepth = 745.240485; finalDepth = 745.344419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0823799999999 # Actual altitude: 50.0823799999999 # Commanded vehicle depth:745.240485 # Seafloor depth:-795.322865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 100.063141 meters # Minimum depth: 795.139312 meters looking forward 100.000000 meters along route # Maximum depth: 795.220798 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.139312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.174679; longitude = -117.773236; captureRadius = 10; duration = 100; initialDepth = 745.139312; finalDepth = 745.240485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0823799999999 # Actual altitude: 50.0823799999999 # Commanded vehicle depth:745.139312 # Seafloor depth:-795.220798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 100.063115 meters # Minimum depth: 795.049895 meters looking forward 100.000000 meters along route # Maximum depth: 795.119769 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.049895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.174716; longitude = -117.774308; captureRadius = 10; duration = 100; initialDepth = 745.049895; finalDepth = 745.139312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0814859999999 # Actual altitude: 50.0814859999999 # Commanded vehicle depth:745.049895 # Seafloor depth:-795.119769 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 100.063090 meters # Minimum depth: 794.977695 meters looking forward 100.000000 meters along route # Maximum depth: 795.032452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.977695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.174754; longitude = -117.775381; captureRadius = 10; duration = 100; initialDepth = 744.977695; finalDepth = 745.049895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.069874 # Actual altitude: 50.069874 # Commanded vehicle depth:744.977695 # Seafloor depth:-795.032452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 100.063065 meters # Minimum depth: 794.933336 meters looking forward 100.000000 meters along route # Maximum depth: 794.966393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.933336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.174792; longitude = -117.776453; captureRadius = 10; duration = 100; initialDepth = 744.933336; finalDepth = 744.977695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.054757 # Actual altitude: 50.054757 # Commanded vehicle depth:744.933336 # Seafloor depth:-794.966393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.22; 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 = 200.22; 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 26 # Segment length 100.063041 meters # Minimum depth: 794.930898 meters looking forward 100.000000 meters along route # Maximum depth: 794.939037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.930898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.174829; longitude = -117.777525; captureRadius = 10; duration = 100; initialDepth = 744.930898; finalDepth = 744.933336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.033057 # Actual altitude: 50.033057 # Commanded vehicle depth:744.930898 # Seafloor depth:-794.931916 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 100.063016 meters # Minimum depth: 794.944622 meters looking forward 100.000000 meters along route # Maximum depth: 794.995060 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.944622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.174867; longitude = -117.778597; captureRadius = 10; duration = 100; initialDepth = 744.944622; finalDepth = 744.930898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.001018 # Actual altitude: 50.001018 # Commanded vehicle depth:744.944622 # Seafloor depth:-794.944622 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 100.062990 meters # Minimum depth: 795.014347 meters looking forward 100.000000 meters along route # Maximum depth: 795.114612 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.014347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.174905; longitude = -117.779670; captureRadius = 10; duration = 100; initialDepth = 745.014347; finalDepth = 744.944622; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:745.014347 # Seafloor depth:-795.014347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.983981 meters # Minimum depth: 795.145546 meters looking forward 100.000000 meters along route # Maximum depth: 795.342760 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.145546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.174942; longitude = -117.780742; captureRadius = 10; duration = 104; initialDepth = 745.145546; finalDepth = 745.014347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:745.145546 # Seafloor depth:-795.145546 # 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 25 # Segment length 4.933920 meters # Minimum depth: 795.180633 meters looking forward 100.000000 meters along route # Maximum depth: 795.382263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.180633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.174982; longitude = -117.781867; captureRadius = 10; duration = 4; # abortOnTimeout = True; initialDepth = 745.180633; finalDepth = 745.145546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.20163 # Actual altitude: 50.20163 # Commanded vehicle depth:745.180633 # Seafloor depth:-795.382263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.81; 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 = 200.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.325333 meters # Minimum depth: 795.149301 meters looking forward 100.000000 meters along route # Maximum depth: 795.341030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.149301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.174986; longitude = -117.781814; captureRadius = 10; duration = 100; initialDepth = 745.149301; finalDepth = 745.180633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.20163 # Actual altitude: 50.20163 # Commanded vehicle depth:745.149301 # Seafloor depth:-795.341030 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.81; 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 = 200.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.325229 meters # Minimum depth: 794.961311 meters looking forward 100.000000 meters along route # Maximum depth: 795.105889 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.961311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.175061; longitude = -117.780742; captureRadius = 10; duration = 100; initialDepth = 744.961311; finalDepth = 745.149301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.191729 # Actual altitude: 50.191729 # Commanded vehicle depth:744.961311 # Seafloor depth:-795.105889 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.325125 meters # Minimum depth: 794.834673 meters looking forward 100.000000 meters along route # Maximum depth: 794.931637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.834673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.175137; longitude = -117.779670; captureRadius = 10; duration = 100; initialDepth = 744.834673; finalDepth = 744.961311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.144578 # Actual altitude: 50.144578 # Commanded vehicle depth:744.834673 # Seafloor depth:-794.931637 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.58; 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 = 200.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.325023 meters # Minimum depth: 794.763572 meters looking forward 100.000000 meters along route # Maximum depth: 794.816927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.763572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.175212; longitude = -117.778597; captureRadius = 10; duration = 100; initialDepth = 744.763572; finalDepth = 744.834673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0969640000001 # Actual altitude: 50.0969640000001 # Commanded vehicle depth:744.763572 # Seafloor depth:-794.816927 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.04; MB_Bottom_Detect_Filter_Max_Range = 200.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.324919 meters # Minimum depth: 794.735179 meters looking forward 100.000000 meters along route # Maximum depth: 794.753856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.735179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.175288; longitude = -117.777525; captureRadius = 10; duration = 100; initialDepth = 744.735179; finalDepth = 744.763572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.053355 # Actual altitude: 50.053355 # Commanded vehicle depth:744.735179 # Seafloor depth:-794.753856 # 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 25 # Segment length 100.324815 meters # Minimum depth: 794.734082 meters looking forward 100.000000 meters along route # Maximum depth: 794.740548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.734082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.175363; longitude = -117.776453; captureRadius = 10; duration = 100; initialDepth = 744.734082; finalDepth = 744.735179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.018677 # Actual altitude: 50.018677 # Commanded vehicle depth:744.734082 # Seafloor depth:-794.734082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.324712 meters # Minimum depth: 794.745730 meters looking forward 100.000000 meters along route # Maximum depth: 794.771601 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.745730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.175439; longitude = -117.775381; captureRadius = 10; duration = 100; initialDepth = 744.745730; finalDepth = 744.734082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:744.74573 # Seafloor depth:-794.745730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.324609 meters # Minimum depth: 794.779857 meters looking forward 100.000000 meters along route # Maximum depth: 794.815809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.779857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.175514; longitude = -117.774308; captureRadius = 10; duration = 100; initialDepth = 744.779857; finalDepth = 744.745730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:744.779857 # Seafloor depth:-794.779857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.324506 meters # Minimum depth: 794.826779 meters looking forward 100.000000 meters along route # Maximum depth: 794.869756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.826779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.175590; longitude = -117.773236; captureRadius = 10; duration = 100; initialDepth = 744.826779; finalDepth = 744.779857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:744.826779 # Seafloor depth:-794.826779 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.324403 meters # Minimum depth: 794.881298 meters looking forward 100.000000 meters along route # Maximum depth: 794.927298 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.881298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.175665; longitude = -117.772164; captureRadius = 10; duration = 100; initialDepth = 744.881298; finalDepth = 744.826779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:744.881298 # Seafloor depth:-794.881298 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.324299 meters # Minimum depth: 794.937622 meters looking forward 100.000000 meters along route # Maximum depth: 794.979672 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.937622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.175741; longitude = -117.771092; captureRadius = 10; duration = 100; initialDepth = 744.937622; finalDepth = 744.881298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:744.937622 # Seafloor depth:-794.937622 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.324196 meters # Minimum depth: 794.988849 meters looking forward 100.000000 meters along route # Maximum depth: 795.019783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.988849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.175816; longitude = -117.770019; captureRadius = 10; duration = 100; initialDepth = 744.988849; finalDepth = 744.937622; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:744.988849 # Seafloor depth:-794.988849 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.324093 meters # Minimum depth: 795.026086 meters looking forward 100.000000 meters along route # Maximum depth: 795.036421 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.026086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.175892; longitude = -117.768947; captureRadius = 10; duration = 100; initialDepth = 745.026086; finalDepth = 744.988849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:745.026086 # Seafloor depth:-795.026086 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.323990 meters # Minimum depth: 795.018343 meters looking forward 100.000000 meters along route # Maximum depth: 795.036402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.018343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.175967; longitude = -117.767875; captureRadius = 10; duration = 100; initialDepth = 745.018343; finalDepth = 745.026086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.018059 # Actual altitude: 50.018059 # Commanded vehicle depth:745.018343 # Seafloor depth:-795.036402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.323887 meters # Minimum depth: 794.939760 meters looking forward 100.000000 meters along route # Maximum depth: 795.009592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.939760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.176043; longitude = -117.766802; captureRadius = 10; duration = 100; initialDepth = 744.939760; finalDepth = 745.018343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.069832 # Actual altitude: 50.069832 # Commanded vehicle depth:744.93976 # Seafloor depth:-795.009592 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.323783 meters # Minimum depth: 794.837229 meters looking forward 100.000000 meters along route # Maximum depth: 794.934125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.837229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.176118; longitude = -117.765730; captureRadius = 10; duration = 100; initialDepth = 744.837229; finalDepth = 744.939760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.096896 # Actual altitude: 50.096896 # Commanded vehicle depth:744.837229 # Seafloor depth:-794.934125 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.04; MB_Bottom_Detect_Filter_Max_Range = 200.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.323681 meters # Minimum depth: 794.666782 meters looking forward 100.000000 meters along route # Maximum depth: 794.806818 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.666782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.176194; longitude = -117.764658; captureRadius = 10; duration = 100; initialDepth = 744.666782; finalDepth = 744.837229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.140036 # Actual altitude: 50.140036 # Commanded vehicle depth:744.666782 # Seafloor depth:-794.806818 # 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 25 # Segment length 100.323578 meters # Minimum depth: 794.447969 meters looking forward 100.000000 meters along route # Maximum depth: 794.626666 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.447969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.176269; longitude = -117.763586; captureRadius = 10; duration = 100; initialDepth = 744.447969; finalDepth = 744.666782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1786970000001 # Actual altitude: 50.1786970000001 # Commanded vehicle depth:744.447969 # Seafloor depth:-794.626666 # 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 = 150.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.323474 meters # Minimum depth: 794.194906 meters looking forward 100.000000 meters along route # Maximum depth: 794.399624 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.194906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.176345; longitude = -117.762513; captureRadius = 10; duration = 100; initialDepth = 744.194906; finalDepth = 744.447969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2047180000001 # Actual altitude: 50.2047180000001 # Commanded vehicle depth:744.194906 # Seafloor depth:-794.399624 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.323372 meters # Minimum depth: 793.934763 meters looking forward 100.000000 meters along route # Maximum depth: 794.141784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.934763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.176420; longitude = -117.761441; captureRadius = 10; duration = 100; initialDepth = 743.934763; finalDepth = 744.194906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2070210000001 # Actual altitude: 50.2070210000001 # Commanded vehicle depth:743.934763 # Seafloor depth:-794.141784 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.83; 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 = 200.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.323268 meters # Minimum depth: 793.717312 meters looking forward 100.000000 meters along route # Maximum depth: 793.886690 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.717312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.176496; longitude = -117.760369; captureRadius = 10; duration = 100; initialDepth = 743.717312; finalDepth = 743.934763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2070210000001 # Actual altitude: 50.2070210000001 # Commanded vehicle depth:743.717312 # Seafloor depth:-793.886690 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.83; 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 = 200.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.323166 meters # Minimum depth: 793.597095 meters looking forward 100.000000 meters along route # Maximum depth: 793.683377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.597095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.176571; longitude = -117.759297; captureRadius = 10; duration = 100; initialDepth = 743.597095; finalDepth = 743.717312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1693780000001 # Actual altitude: 50.1693780000001 # Commanded vehicle depth:743.597095 # Seafloor depth:-793.683377 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.68; 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 = 200.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.323063 meters # Minimum depth: 793.588581 meters looking forward 100.000000 meters along route # Maximum depth: 793.628626 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.588581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.176647; longitude = -117.758224; captureRadius = 10; duration = 100; initialDepth = 743.588581; finalDepth = 743.597095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.086282 # Actual altitude: 50.086282 # Commanded vehicle depth:743.588581 # Seafloor depth:-793.590212 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.322960 meters # Minimum depth: 793.657292 meters looking forward 100.000000 meters along route # Maximum depth: 793.851022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.657292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.176722; longitude = -117.757152; captureRadius = 10; duration = 100; initialDepth = 743.657292; finalDepth = 743.588581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.001631 # Actual altitude: 50.001631 # Commanded vehicle depth:743.657292 # Seafloor depth:-793.657292 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.322857 meters # Minimum depth: 793.922150 meters looking forward 100.000000 meters along route # Maximum depth: 794.284448 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.922150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.176798; longitude = -117.756080; captureRadius = 10; duration = 100; initialDepth = 743.922150; finalDepth = 743.657292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.92215 # Seafloor depth:-793.922150 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.322754 meters # Minimum depth: 794.395807 meters looking forward 100.000000 meters along route # Maximum depth: 794.914689 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.395807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.176873; longitude = -117.755007; captureRadius = 10; duration = 100; initialDepth = 744.395807; finalDepth = 743.922150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:744.395807 # Seafloor depth:-794.395807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.322651 meters # Minimum depth: 795.062832 meters looking forward 100.000000 meters along route # Maximum depth: 795.709186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.062832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.176949; longitude = -117.753935; captureRadius = 10; duration = 100; initialDepth = 745.062832; finalDepth = 744.395807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:745.062832 # Seafloor depth:-795.062832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.560781 meters # Minimum depth: 795.884011 meters looking forward 100.000000 meters along route # Maximum depth: 796.804686 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.884011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.177024; longitude = -117.752863; captureRadius = 10; duration = 119; initialDepth = 745.884011; finalDepth = 745.062832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:745.884011 # Seafloor depth:-795.884011 # 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 24 # Segment length 31.867961 meters # Minimum depth: 796.428431 meters looking forward 100.000000 meters along route # Maximum depth: 796.952219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 746.428431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.177114; longitude = -117.751585; captureRadius = 10; duration = 31; # abortOnTimeout = True; initialDepth = 746.428431; finalDepth = 745.884011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.482763 # Actual altitude: 50.482763 # Commanded vehicle depth:746.428431 # Seafloor depth:-796.911194 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 118.137567 meters # Minimum depth: 796.391783 meters looking forward 100.000000 meters along route # Maximum depth: 796.847477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 746.391783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.177400; longitude = -117.751614; captureRadius = 10; duration = 118; initialDepth = 746.391783; finalDepth = 746.428431; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.482763 # Actual altitude: 50.482763 # Commanded vehicle depth:746.391783 # Seafloor depth:-796.847477 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 6.328395 meters # Minimum depth: 796.357056 meters looking forward 100.000000 meters along route # Maximum depth: 796.627343 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 746.357056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.178462; longitude = -117.751723; captureRadius = 10; duration = 6; # abortOnTimeout = True; initialDepth = 746.357056; finalDepth = 746.391783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.455694 # Actual altitude: 50.455694 # Commanded vehicle depth:746.357056 # Seafloor depth:-796.357056 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.82; 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 = 201.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.346712 meters # Minimum depth: 795.494334 meters looking forward 100.000000 meters along route # Maximum depth: 796.214570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.494334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.178457; longitude = -117.751791; captureRadius = 10; duration = 100; initialDepth = 745.494334; finalDepth = 746.357056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.720236 # Actual altitude: 50.720236 # Commanded vehicle depth:745.494334 # Seafloor depth:-796.214570 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.88; 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 = 202.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.346817 meters # Minimum depth: 794.697641 meters looking forward 100.000000 meters along route # Maximum depth: 795.323722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.697641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.178379; longitude = -117.752863; captureRadius = 10; duration = 100; initialDepth = 744.697641; finalDepth = 745.494334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.720236 # Actual altitude: 50.720236 # Commanded vehicle depth:744.697641 # Seafloor depth:-795.323722 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.88; 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 = 202.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.346923 meters # Minimum depth: 794.056534 meters looking forward 100.000000 meters along route # Maximum depth: 794.556294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.056534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.178301; longitude = -117.753935; captureRadius = 10; duration = 100; initialDepth = 744.056534; finalDepth = 744.697641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.626081 # Actual altitude: 50.626081 # Commanded vehicle depth:744.056534 # Seafloor depth:-794.556294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.347029 meters # Minimum depth: 793.591526 meters looking forward 100.000000 meters along route # Maximum depth: 793.948870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.591526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.178222; longitude = -117.755007; captureRadius = 10; duration = 100; initialDepth = 743.591526; finalDepth = 744.056534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4997599999999 # Actual altitude: 50.4997599999999 # Commanded vehicle depth:743.591526 # Seafloor depth:-793.948870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.00; 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 = 202.00; 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 23 # Segment length 100.347136 meters # Minimum depth: 793.311448 meters looking forward 100.000000 meters along route # Maximum depth: 793.519594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.311448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.178144; longitude = -117.756080; captureRadius = 10; duration = 100; initialDepth = 743.311448; finalDepth = 743.591526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.357344 # Actual altitude: 50.357344 # Commanded vehicle depth:743.311448 # Seafloor depth:-793.519594 # 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 23 # Segment length 100.347241 meters # Minimum depth: 793.209997 meters looking forward 100.000000 meters along route # Maximum depth: 793.276966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.209997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.178066; longitude = -117.757152; captureRadius = 10; duration = 100; initialDepth = 743.209997; finalDepth = 743.311448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2081459999999 # Actual altitude: 50.2081459999999 # Commanded vehicle depth:743.209997 # Seafloor depth:-793.276966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.83; 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 = 200.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.347347 meters # Minimum depth: 793.210273 meters looking forward 100.000000 meters along route # Maximum depth: 793.268455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.210273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.177988; longitude = -117.758224; captureRadius = 10; duration = 100; initialDepth = 743.210273; finalDepth = 743.209997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.066969 # Actual altitude: 50.066969 # Commanded vehicle depth:743.210273 # Seafloor depth:-793.210273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.347453 meters # Minimum depth: 793.294387 meters looking forward 100.000000 meters along route # Maximum depth: 793.436963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.294387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.177910; longitude = -117.759297; captureRadius = 10; duration = 100; initialDepth = 743.294387; finalDepth = 743.210273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.294387 # Seafloor depth:-793.294387 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.347559 meters # Minimum depth: 793.479744 meters looking forward 100.000000 meters along route # Maximum depth: 793.666214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.479744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.177831; longitude = -117.760369; captureRadius = 10; duration = 100; initialDepth = 743.479744; finalDepth = 743.294387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.479744 # Seafloor depth:-793.479744 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.347665 meters # Minimum depth: 793.715128 meters looking forward 100.000000 meters along route # Maximum depth: 793.908974 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.715128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.177753; longitude = -117.761441; captureRadius = 10; duration = 100; initialDepth = 743.715128; finalDepth = 743.479744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.715128 # Seafloor depth:-793.715128 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.347771 meters # Minimum depth: 793.956729 meters looking forward 100.000000 meters along route # Maximum depth: 794.134089 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.956729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.177675; longitude = -117.762513; captureRadius = 10; duration = 100; initialDepth = 743.956729; finalDepth = 743.715128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.956729 # Seafloor depth:-793.956729 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.347878 meters # Minimum depth: 794.175031 meters looking forward 100.000000 meters along route # Maximum depth: 794.323172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.175031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.177597; longitude = -117.763586; captureRadius = 10; duration = 100; initialDepth = 744.175031; finalDepth = 743.956729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:744.175031 # Seafloor depth:-794.175031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.347983 meters # Minimum depth: 794.355398 meters looking forward 100.000000 meters along route # Maximum depth: 794.464971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.355398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.177518; longitude = -117.764658; captureRadius = 10; duration = 100; initialDepth = 744.355398; finalDepth = 744.175031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:744.355398 # Seafloor depth:-794.355398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.348090 meters # Minimum depth: 794.487686 meters looking forward 100.000000 meters along route # Maximum depth: 794.554261 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.487686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.177440; longitude = -117.765730; captureRadius = 10; duration = 100; initialDepth = 744.487686; finalDepth = 744.355398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:744.487686 # Seafloor depth:-794.487686 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.348196 meters # Minimum depth: 794.567011 meters looking forward 100.000000 meters along route # Maximum depth: 794.593860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.567011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.177362; longitude = -117.766802; captureRadius = 10; duration = 100; initialDepth = 744.567011; finalDepth = 744.487686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:744.567011 # Seafloor depth:-794.567011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.348302 meters # Minimum depth: 794.583322 meters looking forward 100.000000 meters along route # Maximum depth: 794.595938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.583322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.177284; longitude = -117.767875; captureRadius = 10; duration = 100; initialDepth = 744.583322; finalDepth = 744.567011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0126160000001 # Actual altitude: 50.0126160000001 # Commanded vehicle depth:744.583322 # Seafloor depth:-794.595938 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.348408 meters # Minimum depth: 794.534359 meters looking forward 100.000000 meters along route # Maximum depth: 794.575302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.534359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.177206; longitude = -117.768947; captureRadius = 10; duration = 100; initialDepth = 744.534359; finalDepth = 744.583322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.040943 # Actual altitude: 50.040943 # Commanded vehicle depth:744.534359 # Seafloor depth:-794.575302 # 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 23 # Segment length 100.348514 meters # Minimum depth: 794.464599 meters looking forward 100.000000 meters along route # Maximum depth: 794.522442 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.464599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.177127; longitude = -117.770019; captureRadius = 10; duration = 100; initialDepth = 744.464599; finalDepth = 744.534359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0578429999999 # Actual altitude: 50.0578429999999 # Commanded vehicle depth:744.464599 # Seafloor depth:-794.522442 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.23; 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 = 200.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.348621 meters # Minimum depth: 794.369266 meters looking forward 100.000000 meters along route # Maximum depth: 794.448819 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.369266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.177049; longitude = -117.771092; captureRadius = 10; duration = 100; initialDepth = 744.369266; finalDepth = 744.464599; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0795529999999 # Actual altitude: 50.0795529999999 # Commanded vehicle depth:744.369266 # Seafloor depth:-794.448819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.348727 meters # Minimum depth: 794.311056 meters looking forward 100.000000 meters along route # Maximum depth: 794.368644 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.311056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.176971; longitude = -117.772164; captureRadius = 10; duration = 100; initialDepth = 744.311056; finalDepth = 744.369266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0795529999999 # Actual altitude: 50.0795529999999 # Commanded vehicle depth:744.311056 # Seafloor depth:-794.368644 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.348834 meters # Minimum depth: 794.251408 meters looking forward 100.000000 meters along route # Maximum depth: 794.297903 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.251408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.176893; longitude = -117.773236; captureRadius = 10; duration = 100; initialDepth = 744.251408; finalDepth = 744.311056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.057588 # Actual altitude: 50.057588 # Commanded vehicle depth:744.251408 # Seafloor depth:-794.297903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.23; 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 = 200.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.348939 meters # Minimum depth: 794.218175 meters looking forward 100.000000 meters along route # Maximum depth: 794.242612 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.218175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.176814; longitude = -117.774308; captureRadius = 10; duration = 100; initialDepth = 744.218175; finalDepth = 744.251408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.046495 # Actual altitude: 50.046495 # Commanded vehicle depth:744.218175 # Seafloor depth:-794.242612 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.19; 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 = 200.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.349047 meters # Minimum depth: 794.210823 meters looking forward 100.000000 meters along route # Maximum depth: 794.215429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.210823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.176736; longitude = -117.775381; captureRadius = 10; duration = 100; initialDepth = 744.210823; finalDepth = 744.218175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.024437 # Actual altitude: 50.024437 # Commanded vehicle depth:744.210823 # Seafloor depth:-794.215429 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.349152 meters # Minimum depth: 794.217449 meters looking forward 100.000000 meters along route # Maximum depth: 794.246338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.217449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.176658; longitude = -117.776453; captureRadius = 10; duration = 100; initialDepth = 744.217449; finalDepth = 744.210823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.004606 # Actual altitude: 50.004606 # Commanded vehicle depth:744.217449 # Seafloor depth:-794.217449 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.349259 meters # Minimum depth: 794.257064 meters looking forward 100.000000 meters along route # Maximum depth: 794.319487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.257064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.176580; longitude = -117.777525; captureRadius = 10; duration = 100; initialDepth = 744.257064; finalDepth = 744.217449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:744.257064 # Seafloor depth:-794.257064 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.349365 meters # Minimum depth: 794.340778 meters looking forward 100.000000 meters along route # Maximum depth: 794.443891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.340778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.176502; longitude = -117.778597; captureRadius = 10; duration = 100; initialDepth = 744.340778; finalDepth = 744.257064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:744.340778 # Seafloor depth:-794.340778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.349472 meters # Minimum depth: 794.474249 meters looking forward 100.000000 meters along route # Maximum depth: 794.626035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.474249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.176423; longitude = -117.779670; captureRadius = 10; duration = 100; initialDepth = 744.474249; finalDepth = 744.340778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:744.474249 # Seafloor depth:-794.474249 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 118.105962 meters # Minimum depth: 794.670027 meters looking forward 100.000000 meters along route # Maximum depth: 794.930242 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.670027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.176345; longitude = -117.780742; captureRadius = 10; duration = 118; initialDepth = 744.670027; finalDepth = 744.474249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:744.670027 # Seafloor depth:-794.670027 # 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 22 # Segment length 32.223895 meters # Minimum depth: 794.819500 meters looking forward 100.000000 meters along route # Maximum depth: 794.971863 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.819500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.176253; longitude = -117.782004; captureRadius = 10; duration = 32; # abortOnTimeout = True; initialDepth = 744.819500; finalDepth = 744.670027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.152363 # Actual altitude: 50.152363 # Commanded vehicle depth:744.8195 # Seafloor depth:-794.971863 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.61; 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 = 200.61; 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 22 # Segment length 117.790399 meters # Minimum depth: 794.629451 meters looking forward 100.000000 meters along route # Maximum depth: 794.894708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.629451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.176543; longitude = -117.782034; captureRadius = 10; duration = 117; initialDepth = 744.629451; finalDepth = 744.819500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.265257 # Actual altitude: 50.265257 # Commanded vehicle depth:744.629451 # Seafloor depth:-794.894708 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.06; 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 = 201.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 10.694698 meters # Minimum depth: 794.596741 meters looking forward 100.000000 meters along route # Maximum depth: 794.763656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.596741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.177601; longitude = -117.782143; captureRadius = 10; duration = 10; # abortOnTimeout = True; initialDepth = 744.596741; finalDepth = 744.629451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.265257 # Actual altitude: 50.265257 # Commanded vehicle depth:744.596741 # Seafloor depth:-794.596741 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.06; 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 = 201.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.347724 meters # Minimum depth: 794.297184 meters looking forward 100.000000 meters along route # Maximum depth: 794.532139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.297184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.177609; longitude = -117.782029; captureRadius = 10; duration = 100; initialDepth = 744.297184; finalDepth = 744.596741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.234955 # Actual altitude: 50.234955 # Commanded vehicle depth:744.297184 # Seafloor depth:-794.532139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.94; 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 = 200.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.347617 meters # Minimum depth: 794.059710 meters looking forward 100.000000 meters along route # Maximum depth: 794.244114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.059710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.177688; longitude = -117.780956; captureRadius = 10; duration = 100; initialDepth = 744.059710; finalDepth = 744.297184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.234955 # Actual altitude: 50.234955 # Commanded vehicle depth:744.05971 # Seafloor depth:-794.244114 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.94; 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 = 200.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.347512 meters # Minimum depth: 793.880602 meters looking forward 100.000000 meters along route # Maximum depth: 794.019418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.880602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.177766; longitude = -117.779884; captureRadius = 10; duration = 100; initialDepth = 743.880602; finalDepth = 744.059710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.184404 # Actual altitude: 50.184404 # Commanded vehicle depth:743.880602 # Seafloor depth:-794.019418 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.74; 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 = 200.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.347404 meters # Minimum depth: 793.760936 meters looking forward 100.000000 meters along route # Maximum depth: 793.854031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.760936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.177844; longitude = -117.778812; captureRadius = 10; duration = 100; initialDepth = 743.760936; finalDepth = 743.880602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.138816 # Actual altitude: 50.138816 # Commanded vehicle depth:743.760936 # Seafloor depth:-793.854031 # 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 100.347299 meters # Minimum depth: 793.687732 meters looking forward 100.000000 meters along route # Maximum depth: 793.742257 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.687732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.177922; longitude = -117.777740; captureRadius = 10; duration = 100; initialDepth = 743.687732; finalDepth = 743.760936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0930949999999 # Actual altitude: 50.0930949999999 # Commanded vehicle depth:743.687732 # Seafloor depth:-793.742257 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.37; 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 = 200.37; 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 21 # Segment length 100.347192 meters # Minimum depth: 793.657003 meters looking forward 100.000000 meters along route # Maximum depth: 793.678019 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.657003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.178000; longitude = -117.776667; captureRadius = 10; duration = 100; initialDepth = 743.657003; finalDepth = 743.687732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.054525 # Actual altitude: 50.054525 # Commanded vehicle depth:743.657003 # Seafloor depth:-793.678019 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.22; 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 = 200.22; 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 21 # Segment length 100.347085 meters # Minimum depth: 793.656402 meters looking forward 100.000000 meters along route # Maximum depth: 793.670922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.656402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.178078; longitude = -117.775595; captureRadius = 10; duration = 100; initialDepth = 743.656402; finalDepth = 743.657003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0210159999999 # Actual altitude: 50.0210159999999 # Commanded vehicle depth:743.656402 # Seafloor depth:-793.656402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.346980 meters # Minimum depth: 793.679289 meters looking forward 100.000000 meters along route # Maximum depth: 793.729675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.679289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.178157; longitude = -117.774523; captureRadius = 10; duration = 100; initialDepth = 743.679289; finalDepth = 743.656402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.679289 # Seafloor depth:-793.679289 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.346873 meters # Minimum depth: 793.746668 meters looking forward 100.000000 meters along route # Maximum depth: 793.829342 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.746668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.178235; longitude = -117.773451; captureRadius = 10; duration = 100; initialDepth = 743.746668; finalDepth = 743.679289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.746668 # Seafloor depth:-793.746668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.346767 meters # Minimum depth: 793.852780 meters looking forward 100.000000 meters along route # Maximum depth: 793.954641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.852780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.178313; longitude = -117.772378; captureRadius = 10; duration = 100; initialDepth = 743.852780; finalDepth = 743.746668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.85278 # Seafloor depth:-793.852780 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.346660 meters # Minimum depth: 793.980879 meters looking forward 100.000000 meters along route # Maximum depth: 794.081400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.980879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.178391; longitude = -117.771306; captureRadius = 10; duration = 100; initialDepth = 743.980879; finalDepth = 743.852780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.980879 # Seafloor depth:-793.980879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.346555 meters # Minimum depth: 794.104872 meters looking forward 100.000000 meters along route # Maximum depth: 794.184784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.104872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.178469; longitude = -117.770234; captureRadius = 10; duration = 100; initialDepth = 744.104872; finalDepth = 743.980879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:744.104872 # Seafloor depth:-794.104872 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.346448 meters # Minimum depth: 794.200725 meters looking forward 100.000000 meters along route # Maximum depth: 794.243507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.200725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.178548; longitude = -117.769161; captureRadius = 10; duration = 100; initialDepth = 744.200725; finalDepth = 744.104872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:744.200725 # Seafloor depth:-794.200725 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.346342 meters # Minimum depth: 794.240966 meters looking forward 100.000000 meters along route # Maximum depth: 794.250488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.240966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.178626; longitude = -117.768089; captureRadius = 10; duration = 100; initialDepth = 744.240966; finalDepth = 744.200725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.006886 # Actual altitude: 50.006886 # Commanded vehicle depth:744.240966 # Seafloor depth:-794.247852 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.346236 meters # Minimum depth: 794.177751 meters looking forward 100.000000 meters along route # Maximum depth: 794.231751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.177751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.178704; longitude = -117.767017; captureRadius = 10; duration = 100; initialDepth = 744.177751; finalDepth = 744.240966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0540000000001 # Actual altitude: 50.0540000000001 # Commanded vehicle depth:744.177751 # Seafloor depth:-794.231751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.22; 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 = 200.22; 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 21 # Segment length 100.346129 meters # Minimum depth: 794.057039 meters looking forward 100.000000 meters along route # Maximum depth: 794.157290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.057039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.178782; longitude = -117.765945; captureRadius = 10; duration = 100; initialDepth = 744.057039; finalDepth = 744.177751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.100251 # Actual altitude: 50.100251 # Commanded vehicle depth:744.057039 # Seafloor depth:-794.157290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.04; MB_Bottom_Detect_Filter_Max_Range = 200.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.346024 meters # Minimum depth: 793.897124 meters looking forward 100.000000 meters along route # Maximum depth: 794.027830 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.897124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.178860; longitude = -117.764872; captureRadius = 10; duration = 100; initialDepth = 743.897124; finalDepth = 744.057039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.130706 # Actual altitude: 50.130706 # Commanded vehicle depth:743.897124 # Seafloor depth:-794.027830 # 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 21 # Segment length 100.345917 meters # Minimum depth: 793.708161 meters looking forward 100.000000 meters along route # Maximum depth: 793.860735 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.708161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.178939; longitude = -117.763800; captureRadius = 10; duration = 100; initialDepth = 743.708161; finalDepth = 743.897124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.152574 # Actual altitude: 50.152574 # Commanded vehicle depth:743.708161 # Seafloor depth:-793.860735 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.61; 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 = 200.61; 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 100.345812 meters # Minimum depth: 793.500600 meters looking forward 100.000000 meters along route # Maximum depth: 793.667961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.500600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.179017; longitude = -117.762728; captureRadius = 10; duration = 100; initialDepth = 743.500600; finalDepth = 743.708161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.167361 # Actual altitude: 50.167361 # Commanded vehicle depth:743.5006 # Seafloor depth:-793.667961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.345705 meters # Minimum depth: 793.290800 meters looking forward 100.000000 meters along route # Maximum depth: 793.457754 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.290800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.179095; longitude = -117.761656; captureRadius = 10; duration = 100; initialDepth = 743.290800; finalDepth = 743.500600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.167361 # Actual altitude: 50.167361 # Commanded vehicle depth:743.2908 # Seafloor depth:-793.457754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.345600 meters # Minimum depth: 793.107576 meters looking forward 100.000000 meters along route # Maximum depth: 793.250833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.107576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.179173; longitude = -117.760583; captureRadius = 10; duration = 100; initialDepth = 743.107576; finalDepth = 743.290800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.166954 # Actual altitude: 50.166954 # Commanded vehicle depth:743.107576 # Seafloor depth:-793.250833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.345493 meters # Minimum depth: 792.986556 meters looking forward 100.000000 meters along route # Maximum depth: 793.076750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.986556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.179251; longitude = -117.759511; captureRadius = 10; duration = 100; initialDepth = 742.986556; finalDepth = 743.107576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1432569999999 # Actual altitude: 50.1432569999999 # Commanded vehicle depth:742.986556 # Seafloor depth:-793.076750 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.345388 meters # Minimum depth: 792.957860 meters looking forward 100.000000 meters along route # Maximum depth: 792.973041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.957860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.179329; longitude = -117.758439; captureRadius = 10; duration = 100; initialDepth = 742.957860; finalDepth = 742.986556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.090194 # Actual altitude: 50.090194 # Commanded vehicle depth:742.95786 # Seafloor depth:-792.973041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.04; MB_Bottom_Detect_Filter_Max_Range = 200.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.345281 meters # Minimum depth: 792.971716 meters looking forward 100.000000 meters along route # Maximum depth: 793.062642 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.971716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.179408; longitude = -117.757366; captureRadius = 10; duration = 100; initialDepth = 742.971716; finalDepth = 742.957860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.015181 # Actual altitude: 50.015181 # Commanded vehicle depth:742.971716 # Seafloor depth:-792.971716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.345176 meters # Minimum depth: 793.099779 meters looking forward 100.000000 meters along route # Maximum depth: 793.307291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.099779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.179486; longitude = -117.756294; captureRadius = 10; duration = 100; initialDepth = 743.099779; finalDepth = 742.971716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.099779 # Seafloor depth:-793.099779 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.345070 meters # Minimum depth: 793.374411 meters looking forward 100.000000 meters along route # Maximum depth: 793.713573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.374411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.179564; longitude = -117.755222; captureRadius = 10; duration = 100; initialDepth = 743.374411; finalDepth = 743.099779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.374411 # Seafloor depth:-793.374411 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.344964 meters # Minimum depth: 793.815670 meters looking forward 100.000000 meters along route # Maximum depth: 794.299020 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.815670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.179642; longitude = -117.754150; captureRadius = 10; duration = 100; initialDepth = 743.815670; finalDepth = 743.374411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.81567 # Seafloor depth:-793.815670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 113.734283 meters # Minimum depth: 794.437281 meters looking forward 100.000000 meters along route # Maximum depth: 795.234144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.437281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.179720; longitude = -117.753077; captureRadius = 10; duration = 113; initialDepth = 744.437281; finalDepth = 743.815670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:744.437281 # Seafloor depth:-794.437281 # 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 20 # Segment length 42.209230 meters # Minimum depth: 794.896585 meters looking forward 100.000000 meters along route # Maximum depth: 795.281433 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.896585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.179809; longitude = -117.751862; captureRadius = 10; duration = 42; # abortOnTimeout = True; initialDepth = 744.896585; finalDepth = 744.437281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.384848 # Actual altitude: 50.384848 # Commanded vehicle depth:744.896585 # Seafloor depth:-795.281433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 107.804359 meters # Minimum depth: 794.203066 meters looking forward 100.000000 meters along route # Maximum depth: 795.040585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.203066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180188; longitude = -117.751901; captureRadius = 10; duration = 107; initialDepth = 744.203066; finalDepth = 744.896585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8375189999999 # Actual altitude: 50.8375189999999 # Commanded vehicle depth:744.203066 # Seafloor depth:-795.040585 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 203.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 20.450325 meters # Minimum depth: 794.076002 meters looking forward 100.000000 meters along route # Maximum depth: 794.645385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.076002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181157; longitude = -117.752001; captureRadius = 10; duration = 20; # abortOnTimeout = True; initialDepth = 744.076002; finalDepth = 744.203066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8375189999999 # Actual altitude: 50.8375189999999 # Commanded vehicle depth:744.076002 # Seafloor depth:-794.171570 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 203.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.343657 meters # Minimum depth: 793.395261 meters looking forward 100.000000 meters along route # Maximum depth: 793.918281 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.395261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181141; longitude = -117.752220; captureRadius = 10; duration = 100; initialDepth = 743.395261; finalDepth = 744.076002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.52302 # Actual altitude: 50.52302 # Commanded vehicle depth:743.395261 # Seafloor depth:-793.918281 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.343764 meters # Minimum depth: 792.965458 meters looking forward 100.000000 meters along route # Maximum depth: 793.291492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.965458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181063; longitude = -117.753292; captureRadius = 10; duration = 100; initialDepth = 742.965458; finalDepth = 743.395261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.52302 # Actual altitude: 50.52302 # Commanded vehicle depth:742.965458 # Seafloor depth:-793.291492 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.343869 meters # Minimum depth: 792.751168 meters looking forward 100.000000 meters along route # Maximum depth: 792.906539 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.751168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180985; longitude = -117.754364; captureRadius = 10; duration = 100; initialDepth = 742.751168; finalDepth = 742.965458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3260339999999 # Actual altitude: 50.3260339999999 # Commanded vehicle depth:742.751168 # Seafloor depth:-792.906539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.30; 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 = 201.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.343975 meters # Minimum depth: 792.701314 meters looking forward 100.000000 meters along route # Maximum depth: 792.729988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.701314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180906; longitude = -117.755436; captureRadius = 10; duration = 100; initialDepth = 742.701314; finalDepth = 742.751168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1553709999999 # Actual altitude: 50.1553709999999 # Commanded vehicle depth:742.701314 # Seafloor depth:-792.729988 # 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 = 150.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.344081 meters # Minimum depth: 792.706290 meters looking forward 100.000000 meters along route # Maximum depth: 792.755305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.706290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180828; longitude = -117.756509; captureRadius = 10; duration = 100; initialDepth = 742.706290; finalDepth = 742.701314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.028674 # Actual altitude: 50.028674 # Commanded vehicle depth:742.70629 # Seafloor depth:-792.706290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.344187 meters # Minimum depth: 792.774018 meters looking forward 100.000000 meters along route # Maximum depth: 792.856729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.774018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180750; longitude = -117.757581; captureRadius = 10; duration = 100; initialDepth = 742.774018; finalDepth = 742.706290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:742.774018 # Seafloor depth:-792.774018 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.344293 meters # Minimum depth: 792.880102 meters looking forward 100.000000 meters along route # Maximum depth: 792.974856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.880102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180672; longitude = -117.758653; captureRadius = 10; duration = 100; initialDepth = 742.880102; finalDepth = 742.774018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:742.880102 # Seafloor depth:-792.880102 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.344399 meters # Minimum depth: 793.000266 meters looking forward 100.000000 meters along route # Maximum depth: 793.113746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.000266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180594; longitude = -117.759725; captureRadius = 10; duration = 100; initialDepth = 743.000266; finalDepth = 742.880102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.000266 # Seafloor depth:-793.000266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.344505 meters # Minimum depth: 793.143843 meters looking forward 100.000000 meters along route # Maximum depth: 793.270554 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.143843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180515; longitude = -117.760798; captureRadius = 10; duration = 100; initialDepth = 743.143843; finalDepth = 743.000266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.143843 # Seafloor depth:-793.143843 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.344611 meters # Minimum depth: 793.301618 meters looking forward 100.000000 meters along route # Maximum depth: 793.430416 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.301618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180437; longitude = -117.761870; captureRadius = 10; duration = 100; initialDepth = 743.301618; finalDepth = 743.143843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.301618 # Seafloor depth:-793.301618 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.344717 meters # Minimum depth: 793.462504 meters looking forward 100.000000 meters along route # Maximum depth: 793.590804 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.462504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180359; longitude = -117.762942; captureRadius = 10; duration = 100; initialDepth = 743.462504; finalDepth = 743.301618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.462504 # Seafloor depth:-793.462504 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.344823 meters # Minimum depth: 793.623108 meters looking forward 100.000000 meters along route # Maximum depth: 793.751242 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.623108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180281; longitude = -117.764015; captureRadius = 10; duration = 100; initialDepth = 743.623108; finalDepth = 743.462504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.623108 # Seafloor depth:-793.623108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.344930 meters # Minimum depth: 793.782646 meters looking forward 100.000000 meters along route # Maximum depth: 793.898645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.782646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180202; longitude = -117.765087; captureRadius = 10; duration = 100; initialDepth = 743.782646; finalDepth = 743.623108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.782646 # Seafloor depth:-793.782646 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.345035 meters # Minimum depth: 793.924863 meters looking forward 100.000000 meters along route # Maximum depth: 794.002633 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.924863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180124; longitude = -117.766159; captureRadius = 10; duration = 100; initialDepth = 743.924863; finalDepth = 743.782646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.924863 # Seafloor depth:-793.924863 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.345142 meters # Minimum depth: 794.014411 meters looking forward 100.000000 meters along route # Maximum depth: 794.029241 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.014411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180046; longitude = -117.767231; captureRadius = 10; duration = 100; initialDepth = 744.014411; finalDepth = 743.924863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:744.014411 # Seafloor depth:-794.014411 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.345248 meters # Minimum depth: 793.958294 meters looking forward 100.000000 meters along route # Maximum depth: 794.020515 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.958294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.179968; longitude = -117.768304; captureRadius = 10; duration = 100; initialDepth = 743.958294; finalDepth = 744.014411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.062221 # Actual altitude: 50.062221 # Commanded vehicle depth:743.958294 # Seafloor depth:-794.020515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.25; 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 = 200.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.345354 meters # Minimum depth: 793.803426 meters looking forward 100.000000 meters along route # Maximum depth: 793.933390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.803426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.179890; longitude = -117.769376; captureRadius = 10; duration = 100; initialDepth = 743.803426; finalDepth = 743.958294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1299640000001 # Actual altitude: 50.1299640000001 # Commanded vehicle depth:743.803426 # Seafloor depth:-793.933390 # 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 19 # Segment length 100.345461 meters # Minimum depth: 793.592211 meters looking forward 100.000000 meters along route # Maximum depth: 793.764042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.592211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.179811; longitude = -117.770448; captureRadius = 10; duration = 100; initialDepth = 743.592211; finalDepth = 743.803426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.171831 # Actual altitude: 50.171831 # Commanded vehicle depth:743.592211 # Seafloor depth:-793.764042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.345567 meters # Minimum depth: 793.371503 meters looking forward 100.000000 meters along route # Maximum depth: 793.548344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.371503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.179733; longitude = -117.771520; captureRadius = 10; duration = 100; initialDepth = 743.371503; finalDepth = 743.592211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1768410000001 # Actual altitude: 50.1768410000001 # Commanded vehicle depth:743.371503 # Seafloor depth:-793.548344 # 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 19 # Segment length 100.345673 meters # Minimum depth: 793.190901 meters looking forward 100.000000 meters along route # Maximum depth: 793.330641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.190901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.179655; longitude = -117.772593; captureRadius = 10; duration = 100; initialDepth = 743.190901; finalDepth = 743.371503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1768410000001 # Actual altitude: 50.1768410000001 # Commanded vehicle depth:743.190901 # Seafloor depth:-793.330641 # 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 19 # Segment length 100.345779 meters # Minimum depth: 793.086099 meters looking forward 100.000000 meters along route # Maximum depth: 793.163081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.086099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.179577; longitude = -117.773665; captureRadius = 10; duration = 100; initialDepth = 743.086099; finalDepth = 743.190901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.13974 # Actual altitude: 50.13974 # Commanded vehicle depth:743.086099 # Seafloor depth:-793.163081 # 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 19 # Segment length 100.345886 meters # Minimum depth: 793.059150 meters looking forward 100.000000 meters along route # Maximum depth: 793.075735 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.059150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.179498; longitude = -117.774737; captureRadius = 10; duration = 100; initialDepth = 743.059150; finalDepth = 743.086099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.076982 # Actual altitude: 50.076982 # Commanded vehicle depth:743.05915 # Seafloor depth:-793.075735 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.345992 meters # Minimum depth: 793.062132 meters looking forward 100.000000 meters along route # Maximum depth: 793.096513 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.062132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.179420; longitude = -117.775810; captureRadius = 10; duration = 100; initialDepth = 743.062132; finalDepth = 743.059150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.016585 # Actual altitude: 50.016585 # Commanded vehicle depth:743.062132 # Seafloor depth:-793.062132 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.346099 meters # Minimum depth: 793.111050 meters looking forward 100.000000 meters along route # Maximum depth: 793.182306 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.111050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.179342; longitude = -117.776882; captureRadius = 10; duration = 100; initialDepth = 743.111050; finalDepth = 743.062132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.11105 # Seafloor depth:-793.111050 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.346205 meters # Minimum depth: 793.204249 meters looking forward 100.000000 meters along route # Maximum depth: 793.312259 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.204249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.179264; longitude = -117.777954; captureRadius = 10; duration = 100; initialDepth = 743.204249; finalDepth = 743.111050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.204249 # Seafloor depth:-793.204249 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.346311 meters # Minimum depth: 793.343414 meters looking forward 100.000000 meters along route # Maximum depth: 793.512423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.343414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.179186; longitude = -117.779026; captureRadius = 10; duration = 100; initialDepth = 743.343414; finalDepth = 743.204249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.343414 # Seafloor depth:-793.343414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.346418 meters # Minimum depth: 793.536208 meters looking forward 100.000000 meters along route # Maximum depth: 793.733791 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.536208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.179107; longitude = -117.780099; captureRadius = 10; duration = 100; initialDepth = 743.536208; finalDepth = 743.343414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.536208 # Seafloor depth:-793.536208 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.073406 meters # Minimum depth: 793.789358 meters looking forward 100.000000 meters along route # Maximum depth: 794.107421 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.789358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.179029; longitude = -117.781171; captureRadius = 10; duration = 104; initialDepth = 743.789358; finalDepth = 743.536208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.789358 # Seafloor depth:-793.789358 # 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 42.563511 meters # Minimum depth: 793.971902 meters looking forward 100.000000 meters along route # Maximum depth: 794.118164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.971902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.178948; longitude = -117.782283; captureRadius = 10; duration = 42; # abortOnTimeout = True; initialDepth = 743.971902; finalDepth = 743.789358; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.146262 # Actual altitude: 50.146262 # Commanded vehicle depth:743.971902 # Seafloor depth:-794.118164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 107.450820 meters # Minimum depth: 793.657209 meters looking forward 100.000000 meters along route # Maximum depth: 793.984133 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.657209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.179330; longitude = -117.782322; captureRadius = 10; duration = 107; initialDepth = 743.657209; finalDepth = 743.971902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3269240000001 # Actual altitude: 50.3269240000001 # Commanded vehicle depth:743.657209 # Seafloor depth:-793.984133 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 16.734671 meters # Minimum depth: 793.588867 meters looking forward 100.000000 meters along route # Maximum depth: 793.824697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.588867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180296; longitude = -117.782422; captureRadius = 10; duration = 16; # abortOnTimeout = True; initialDepth = 743.588867; finalDepth = 743.657209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3269240000001 # Actual altitude: 50.3269240000001 # Commanded vehicle depth:743.588867 # Seafloor depth:-793.588867 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.344988 meters # Minimum depth: 793.265884 meters looking forward 100.000000 meters along route # Maximum depth: 793.546359 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.265884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180309; longitude = -117.782243; captureRadius = 10; duration = 100; initialDepth = 743.265884; finalDepth = 743.588867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.280475 # Actual altitude: 50.280475 # Commanded vehicle depth:743.265884 # Seafloor depth:-793.546359 # 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 17 # Segment length 100.344881 meters # Minimum depth: 792.992855 meters looking forward 100.000000 meters along route # Maximum depth: 793.206092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.992855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180387; longitude = -117.781171; captureRadius = 10; duration = 100; initialDepth = 742.992855; finalDepth = 743.265884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.280475 # Actual altitude: 50.280475 # Commanded vehicle depth:742.992855 # Seafloor depth:-793.206092 # 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 17 # Segment length 100.344775 meters # Minimum depth: 792.776261 meters looking forward 100.000000 meters along route # Maximum depth: 792.944347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.776261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180465; longitude = -117.780099; captureRadius = 10; duration = 100; initialDepth = 742.776261; finalDepth = 742.992855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.213237 # Actual altitude: 50.213237 # Commanded vehicle depth:742.776261 # Seafloor depth:-792.944347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.85; 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 = 200.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.344669 meters # Minimum depth: 792.609124 meters looking forward 100.000000 meters along route # Maximum depth: 792.741996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.609124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180544; longitude = -117.779026; captureRadius = 10; duration = 100; initialDepth = 742.609124; finalDepth = 742.776261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.168086 # Actual altitude: 50.168086 # Commanded vehicle depth:742.609124 # Seafloor depth:-792.741996 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.344562 meters # Minimum depth: 792.499677 meters looking forward 100.000000 meters along route # Maximum depth: 792.601341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.499677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180622; longitude = -117.777954; captureRadius = 10; duration = 100; initialDepth = 742.499677; finalDepth = 742.609124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.132872 # Actual altitude: 50.132872 # Commanded vehicle depth:742.499677 # Seafloor depth:-792.601341 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.53; 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 = 200.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.344456 meters # Minimum depth: 792.405011 meters looking forward 100.000000 meters along route # Maximum depth: 792.476540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.405011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180700; longitude = -117.776882; captureRadius = 10; duration = 100; initialDepth = 742.405011; finalDepth = 742.499677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.101664 # Actual altitude: 50.101664 # Commanded vehicle depth:742.405011 # Seafloor depth:-792.476540 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.41; 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 = 200.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.344349 meters # Minimum depth: 792.373056 meters looking forward 100.000000 meters along route # Maximum depth: 792.392774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.373056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180778; longitude = -117.775810; captureRadius = 10; duration = 100; initialDepth = 742.373056; finalDepth = 742.405011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0715290000001 # Actual altitude: 50.0715290000001 # Commanded vehicle depth:742.373056 # Seafloor depth:-792.392774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.344243 meters # Minimum depth: 792.377142 meters looking forward 100.000000 meters along route # Maximum depth: 792.452645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.377142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180857; longitude = -117.774737; captureRadius = 10; duration = 100; initialDepth = 742.377142; finalDepth = 742.373056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.019718 # Actual altitude: 50.019718 # Commanded vehicle depth:742.377142 # Seafloor depth:-792.377142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.344136 meters # Minimum depth: 792.490755 meters looking forward 100.000000 meters along route # Maximum depth: 792.717700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.490755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.180935; longitude = -117.773665; captureRadius = 10; duration = 100; initialDepth = 742.490755; finalDepth = 742.377142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:742.490755 # Seafloor depth:-792.490755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.344031 meters # Minimum depth: 792.790452 meters looking forward 100.000000 meters along route # Maximum depth: 793.107985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.790452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181013; longitude = -117.772593; captureRadius = 10; duration = 100; initialDepth = 742.790452; finalDepth = 742.490755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:742.790452 # Seafloor depth:-792.790452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.343924 meters # Minimum depth: 793.191062 meters looking forward 100.000000 meters along route # Maximum depth: 793.505447 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.191062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181091; longitude = -117.771520; captureRadius = 10; duration = 100; initialDepth = 743.191062; finalDepth = 742.790452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.191062 # Seafloor depth:-793.191062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.343817 meters # Minimum depth: 793.574685 meters looking forward 100.000000 meters along route # Maximum depth: 793.797932 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.574685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181169; longitude = -117.770448; captureRadius = 10; duration = 100; initialDepth = 743.574685; finalDepth = 743.191062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.574685 # Seafloor depth:-793.574685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.343712 meters # Minimum depth: 793.839644 meters looking forward 100.000000 meters along route # Maximum depth: 793.954394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.839644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181248; longitude = -117.769376; captureRadius = 10; duration = 100; initialDepth = 743.839644; finalDepth = 743.574685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.839644 # Seafloor depth:-793.839644 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.343605 meters # Minimum depth: 793.953887 meters looking forward 100.000000 meters along route # Maximum depth: 793.977703 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.953887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181326; longitude = -117.768304; captureRadius = 10; duration = 100; initialDepth = 743.953887; finalDepth = 743.839644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.015185 # Actual altitude: 50.015185 # Commanded vehicle depth:743.953887 # Seafloor depth:-793.969072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.343499 meters # Minimum depth: 793.765145 meters looking forward 100.000000 meters along route # Maximum depth: 793.932456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.765145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181404; longitude = -117.767231; captureRadius = 10; duration = 100; initialDepth = 743.765145; finalDepth = 743.953887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.167311 # Actual altitude: 50.167311 # Commanded vehicle depth:743.765145 # Seafloor depth:-793.932456 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.343393 meters # Minimum depth: 793.574919 meters looking forward 100.000000 meters along route # Maximum depth: 793.744485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.574919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181482; longitude = -117.766159; captureRadius = 10; duration = 100; initialDepth = 743.574919; finalDepth = 743.765145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.169566 # Actual altitude: 50.169566 # Commanded vehicle depth:743.574919 # Seafloor depth:-793.744485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.68; 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 = 200.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.343287 meters # Minimum depth: 793.399166 meters looking forward 100.000000 meters along route # Maximum depth: 793.534860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.399166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181561; longitude = -117.765087; captureRadius = 10; duration = 100; initialDepth = 743.399166; finalDepth = 743.574919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.169566 # Actual altitude: 50.169566 # Commanded vehicle depth:743.399166 # Seafloor depth:-793.534860 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.68; 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 = 200.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.343181 meters # Minimum depth: 793.290436 meters looking forward 100.000000 meters along route # Maximum depth: 793.370809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.290436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181639; longitude = -117.764015; captureRadius = 10; duration = 100; initialDepth = 743.290436; finalDepth = 743.399166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1356939999999 # Actual altitude: 50.1356939999999 # Commanded vehicle depth:743.290436 # Seafloor depth:-793.370809 # 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 17 # Segment length 100.343074 meters # Minimum depth: 793.218206 meters looking forward 100.000000 meters along route # Maximum depth: 793.275511 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.218206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181717; longitude = -117.762942; captureRadius = 10; duration = 100; initialDepth = 743.218206; finalDepth = 743.290436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.080373 # Actual altitude: 50.080373 # Commanded vehicle depth:743.218206 # Seafloor depth:-793.275511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.342969 meters # Minimum depth: 793.122490 meters looking forward 100.000000 meters along route # Maximum depth: 793.201109 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.122490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181795; longitude = -117.761870; captureRadius = 10; duration = 100; initialDepth = 743.122490; finalDepth = 743.218206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.078619 # Actual altitude: 50.078619 # Commanded vehicle depth:743.12249 # Seafloor depth:-793.201109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.342862 meters # Minimum depth: 793.056855 meters looking forward 100.000000 meters along route # Maximum depth: 793.104631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.056855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181873; longitude = -117.760798; captureRadius = 10; duration = 100; initialDepth = 743.056855; finalDepth = 743.122490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.078619 # Actual altitude: 50.078619 # Commanded vehicle depth:743.056855 # Seafloor depth:-793.104631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.342757 meters # Minimum depth: 792.972994 meters looking forward 100.000000 meters along route # Maximum depth: 793.045826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.972994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181952; longitude = -117.759725; captureRadius = 10; duration = 100; initialDepth = 742.972994; finalDepth = 743.056855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0728320000001 # Actual altitude: 50.0728320000001 # Commanded vehicle depth:742.972994 # Seafloor depth:-793.045826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.342650 meters # Minimum depth: 792.719807 meters looking forward 100.000000 meters along route # Maximum depth: 792.938753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.719807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182030; longitude = -117.758653; captureRadius = 10; duration = 100; initialDepth = 742.719807; finalDepth = 742.972994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2189460000001 # Actual altitude: 50.2189460000001 # Commanded vehicle depth:742.719807 # Seafloor depth:-792.938753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.88; 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 = 200.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.342545 meters # Minimum depth: 792.341347 meters looking forward 100.000000 meters along route # Maximum depth: 792.648581 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.341347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182108; longitude = -117.757581; captureRadius = 10; duration = 100; initialDepth = 742.341347; finalDepth = 742.719807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.307234 # Actual altitude: 50.307234 # Commanded vehicle depth:742.341347 # Seafloor depth:-792.648581 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.23; 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 = 201.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.342438 meters # Minimum depth: 791.987381 meters looking forward 100.000000 meters along route # Maximum depth: 792.266431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.987381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182186; longitude = -117.756509; captureRadius = 10; duration = 100; initialDepth = 741.987381; finalDepth = 742.341347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.307234 # Actual altitude: 50.307234 # Commanded vehicle depth:741.987381 # Seafloor depth:-792.266431 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.23; 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 = 201.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.342333 meters # Minimum depth: 791.735008 meters looking forward 100.000000 meters along route # Maximum depth: 791.924878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.735008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182265; longitude = -117.755436; captureRadius = 10; duration = 100; initialDepth = 741.735008; finalDepth = 741.987381; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.27905 # Actual altitude: 50.27905 # Commanded vehicle depth:741.735008 # Seafloor depth:-791.924878 # 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 17 # Segment length 100.342226 meters # Minimum depth: 791.713158 meters looking forward 100.000000 meters along route # Maximum depth: 791.769541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.713158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182343; longitude = -117.754364; captureRadius = 10; duration = 100; initialDepth = 741.713158; finalDepth = 741.735008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.18987 # Actual altitude: 50.18987 # Commanded vehicle depth:741.713158 # Seafloor depth:-791.720551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 107.784675 meters # Minimum depth: 791.815277 meters looking forward 100.000000 meters along route # Maximum depth: 792.238909 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.815277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182421; longitude = -117.753292; captureRadius = 10; duration = 107; initialDepth = 741.815277; finalDepth = 741.713158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.007393 # Actual altitude: 50.007393 # Commanded vehicle depth:741.815277 # Seafloor depth:-791.815277 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 28.571704 meters # Minimum depth: 791.944586 meters looking forward 100.000000 meters along route # Maximum depth: 792.400879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.944586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182505; longitude = -117.752140; captureRadius = 10; duration = 28; # abortOnTimeout = True; initialDepth = 741.944586; finalDepth = 741.815277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4562930000001 # Actual altitude: 50.4562930000001 # Commanded vehicle depth:741.944586 # Seafloor depth:-792.400879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.83; 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 = 201.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 121.441922 meters # Minimum depth: 789.917293 meters looking forward 100.000000 meters along route # Maximum depth: 791.875670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.917293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182762; longitude = -117.752166; captureRadius = 10; duration = 121; initialDepth = 739.917293; finalDepth = 741.944586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.958377 # Actual altitude: 51.958377 # Commanded vehicle depth:739.917293 # Seafloor depth:-791.875670 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 14.503288 meters # Minimum depth: 789.687073 meters looking forward 100.000000 meters along route # Maximum depth: 791.136465 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.687073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183853; longitude = -117.752279; captureRadius = 10; duration = 14; # abortOnTimeout = True; initialDepth = 739.687073; finalDepth = 739.917293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.958377 # Actual altitude: 51.958377 # Commanded vehicle depth:739.687073 # Seafloor depth:-789.687073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.340606 meters # Minimum depth: 789.769998 meters looking forward 100.000000 meters along route # Maximum depth: 789.850432 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.769998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183842; longitude = -117.752434; captureRadius = 10; duration = 100; initialDepth = 739.769998; finalDepth = 739.687073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.080434 # Actual altitude: 50.080434 # Commanded vehicle depth:739.769998 # Seafloor depth:-789.850432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.340711 meters # Minimum depth: 789.718496 meters looking forward 100.000000 meters along route # Maximum depth: 789.837826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.718496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183763; longitude = -117.753506; captureRadius = 10; duration = 100; initialDepth = 739.718496; finalDepth = 739.769998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.080434 # Actual altitude: 50.080434 # Commanded vehicle depth:739.718496 # Seafloor depth:-789.742543 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.340817 meters # Minimum depth: 789.973690 meters looking forward 100.000000 meters along route # Maximum depth: 790.904311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.973690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183685; longitude = -117.754579; captureRadius = 10; duration = 100; initialDepth = 739.973690; finalDepth = 739.718496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.024047 # Actual altitude: 50.024047 # Commanded vehicle depth:739.97369 # Seafloor depth:-789.973690 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.340923 meters # Minimum depth: 791.086643 meters looking forward 100.000000 meters along route # Maximum depth: 791.664794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.086643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183607; longitude = -117.755651; captureRadius = 10; duration = 100; initialDepth = 741.086643; finalDepth = 739.973690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:741.086643 # Seafloor depth:-791.086643 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.341029 meters # Minimum depth: 791.791493 meters looking forward 100.000000 meters along route # Maximum depth: 792.607010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.791493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183529; longitude = -117.756723; captureRadius = 10; duration = 100; initialDepth = 741.791493; finalDepth = 741.086643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:741.791493 # Seafloor depth:-791.791493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.341135 meters # Minimum depth: 792.841383 meters looking forward 100.000000 meters along route # Maximum depth: 793.470844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.841383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183451; longitude = -117.757795; captureRadius = 10; duration = 100; initialDepth = 742.841383; finalDepth = 741.791493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:742.841383 # Seafloor depth:-792.841383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.341241 meters # Minimum depth: 793.272110 meters looking forward 100.000000 meters along route # Maximum depth: 793.489557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.272110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183372; longitude = -117.758868; captureRadius = 10; duration = 100; initialDepth = 743.272110; finalDepth = 742.841383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.217447 # Actual altitude: 50.217447 # Commanded vehicle depth:743.27211 # Seafloor depth:-793.489557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.87; 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 = 200.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.341347 meters # Minimum depth: 792.973145 meters looking forward 100.000000 meters along route # Maximum depth: 793.200445 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.973145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183294; longitude = -117.759940; captureRadius = 10; duration = 100; initialDepth = 742.973145; finalDepth = 743.272110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2272999999999 # Actual altitude: 50.2272999999999 # Commanded vehicle depth:742.973145 # Seafloor depth:-793.200445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.91; 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 = 200.91; 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 15 # Segment length 100.341454 meters # Minimum depth: 792.989878 meters looking forward 100.000000 meters along route # Maximum depth: 793.309986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.989878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183216; longitude = -117.761012; captureRadius = 10; duration = 100; initialDepth = 742.989878; finalDepth = 742.973145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2272999999999 # Actual altitude: 50.2272999999999 # Commanded vehicle depth:742.989878 # Seafloor depth:-792.989878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.91; 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 = 200.91; 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 15 # Segment length 100.341559 meters # Minimum depth: 793.124082 meters looking forward 100.000000 meters along route # Maximum depth: 793.331384 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.124082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183138; longitude = -117.762084; captureRadius = 10; duration = 100; initialDepth = 743.124082; finalDepth = 742.989878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2073019999999 # Actual altitude: 50.2073019999999 # Commanded vehicle depth:743.124082 # Seafloor depth:-793.331384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.83; 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 = 200.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.341665 meters # Minimum depth: 792.975138 meters looking forward 100.000000 meters along route # Maximum depth: 793.060813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.975138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183059; longitude = -117.763157; captureRadius = 10; duration = 100; initialDepth = 742.975138; finalDepth = 743.124082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2073019999999 # Actual altitude: 50.2073019999999 # Commanded vehicle depth:742.975138 # Seafloor depth:-793.060813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.83; 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 = 200.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.341772 meters # Minimum depth: 793.007482 meters looking forward 100.000000 meters along route # Maximum depth: 793.237046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.007482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182981; longitude = -117.764229; captureRadius = 10; duration = 100; initialDepth = 743.007482; finalDepth = 742.975138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.085675 # Actual altitude: 50.085675 # Commanded vehicle depth:743.007482 # Seafloor depth:-793.007482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.341877 meters # Minimum depth: 793.294267 meters looking forward 100.000000 meters along route # Maximum depth: 793.487465 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.294267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182903; longitude = -117.765301; captureRadius = 10; duration = 100; initialDepth = 743.294267; finalDepth = 743.007482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.294267 # Seafloor depth:-793.294267 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.341984 meters # Minimum depth: 793.589664 meters looking forward 100.000000 meters along route # Maximum depth: 794.144972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.589664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182825; longitude = -117.766374; captureRadius = 10; duration = 100; initialDepth = 743.589664; finalDepth = 743.294267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.589664 # Seafloor depth:-793.589664 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.342090 meters # Minimum depth: 794.201105 meters looking forward 100.000000 meters along route # Maximum depth: 794.249277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.201105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182747; longitude = -117.767446; captureRadius = 10; duration = 100; initialDepth = 744.201105; finalDepth = 743.589664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.014084 # Actual altitude: 50.014084 # Commanded vehicle depth:744.201105 # Seafloor depth:-794.215189 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.342196 meters # Minimum depth: 793.942166 meters looking forward 100.000000 meters along route # Maximum depth: 794.161221 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.942166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182668; longitude = -117.768518; captureRadius = 10; duration = 100; initialDepth = 743.942166; finalDepth = 744.201105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2190549999999 # Actual altitude: 50.2190549999999 # Commanded vehicle depth:743.942166 # Seafloor depth:-794.161221 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.88; 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 = 200.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.342302 meters # Minimum depth: 793.672291 meters looking forward 100.000000 meters along route # Maximum depth: 793.892383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.672291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182590; longitude = -117.769590; captureRadius = 10; duration = 100; initialDepth = 743.672291; finalDepth = 743.942166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.220092 # Actual altitude: 50.220092 # Commanded vehicle depth:743.672291 # Seafloor depth:-793.892383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.88; 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 = 200.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.342409 meters # Minimum depth: 792.884060 meters looking forward 100.000000 meters along route # Maximum depth: 793.573361 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.884060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182512; longitude = -117.770663; captureRadius = 10; duration = 100; initialDepth = 742.884060; finalDepth = 743.672291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.689301 # Actual altitude: 50.689301 # Commanded vehicle depth:742.88406 # Seafloor depth:-793.573361 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.76; 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 = 202.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.342515 meters # Minimum depth: 792.177286 meters looking forward 100.000000 meters along route # Maximum depth: 792.729080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.177286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182434; longitude = -117.771735; captureRadius = 10; duration = 100; initialDepth = 742.177286; finalDepth = 742.884060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.689301 # Actual altitude: 50.689301 # Commanded vehicle depth:742.177286 # Seafloor depth:-792.729080 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.76; 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 = 202.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.342621 meters # Minimum depth: 791.470524 meters looking forward 100.000000 meters along route # Maximum depth: 792.025164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.470524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182356; longitude = -117.772807; captureRadius = 10; duration = 100; initialDepth = 741.470524; finalDepth = 742.177286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5546400000001 # Actual altitude: 50.5546400000001 # Commanded vehicle depth:741.470524 # Seafloor depth:-792.025164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.22; 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 = 202.22; 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 15 # Segment length 100.342728 meters # Minimum depth: 791.359243 meters looking forward 100.000000 meters along route # Maximum depth: 791.445132 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.359243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182277; longitude = -117.773879; captureRadius = 10; duration = 100; initialDepth = 741.359243; finalDepth = 741.470524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5546400000001 # Actual altitude: 50.5546400000001 # Commanded vehicle depth:741.359243 # Seafloor depth:-791.403822 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.22; 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 = 202.22; 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 15 # Segment length 100.342834 meters # Minimum depth: 791.521909 meters looking forward 100.000000 meters along route # Maximum depth: 791.640857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.521909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182199; longitude = -117.774952; captureRadius = 10; duration = 100; initialDepth = 741.521909; finalDepth = 741.359243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.044579 # Actual altitude: 50.044579 # Commanded vehicle depth:741.521909 # Seafloor depth:-791.521909 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.18; 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 = 200.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.342941 meters # Minimum depth: 791.636885 meters looking forward 100.000000 meters along route # Maximum depth: 791.736836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.636885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182121; longitude = -117.776024; captureRadius = 10; duration = 100; initialDepth = 741.636885; finalDepth = 741.521909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:741.636885 # Seafloor depth:-791.636885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.343046 meters # Minimum depth: 791.794433 meters looking forward 100.000000 meters along route # Maximum depth: 792.059345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.794433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182043; longitude = -117.777096; captureRadius = 10; duration = 100; initialDepth = 741.794433; finalDepth = 741.636885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:741.794433 # Seafloor depth:-791.794433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.343154 meters # Minimum depth: 792.007654 meters looking forward 100.000000 meters along route # Maximum depth: 792.041000 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.007654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181964; longitude = -117.778169; captureRadius = 10; duration = 100; initialDepth = 742.007654; finalDepth = 741.794433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0333460000001 # Actual altitude: 50.0333460000001 # Commanded vehicle depth:742.007654 # Seafloor depth:-792.041000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.343260 meters # Minimum depth: 792.024071 meters looking forward 100.000000 meters along route # Maximum depth: 792.289005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.024071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181886; longitude = -117.779241; captureRadius = 10; duration = 100; initialDepth = 742.024071; finalDepth = 742.007654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0333460000001 # Actual altitude: 50.0333460000001 # Commanded vehicle depth:742.024071 # Seafloor depth:-792.024071 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.343366 meters # Minimum depth: 792.374994 meters looking forward 100.000000 meters along route # Maximum depth: 792.525490 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.374994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181808; longitude = -117.780313; captureRadius = 10; duration = 100; initialDepth = 742.374994; finalDepth = 742.024071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:742.374994 # Seafloor depth:-792.374994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.016833 meters # Minimum depth: 792.553617 meters looking forward 100.000000 meters along route # Maximum depth: 792.920418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.553617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181730; longitude = -117.781385; captureRadius = 10; duration = 110; initialDepth = 742.553617; finalDepth = 742.374994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:742.553617 # Seafloor depth:-792.553617 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 28.925917 meters # Minimum depth: 792.622769 meters looking forward 100.000000 meters along route # Maximum depth: 793.027588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.622769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181644; longitude = -117.782561; captureRadius = 10; duration = 28; # abortOnTimeout = True; initialDepth = 742.622769; finalDepth = 742.553617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4048190000001 # Actual altitude: 50.4048190000001 # Commanded vehicle depth:742.622769 # Seafloor depth:-793.027588 # 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 = 151.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 121.088451 meters # Minimum depth: 792.070692 meters looking forward 100.000000 meters along route # Maximum depth: 793.000367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.070692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.181904; longitude = -117.782588; captureRadius = 10; duration = 121; initialDepth = 742.070692; finalDepth = 742.622769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.803328 # Actual altitude: 50.803328 # Commanded vehicle depth:742.070692 # Seafloor depth:-792.874020 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.21; 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 = 203.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 22.680664 meters # Minimum depth: 792.070692 meters looking forward 100.000000 meters along route # Maximum depth: 793.000367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.070692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.182992; longitude = -117.782700; captureRadius = 10; duration = 22; # abortOnTimeout = True; initialDepth = 742.070692; finalDepth = 742.070692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.803328 # Actual altitude: 50.803328 # Commanded vehicle depth:742.070692 # Seafloor depth:-792.108582 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.21; 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 = 203.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.341936 meters # Minimum depth: 791.550751 meters looking forward 100.000000 meters along route # Maximum depth: 792.117541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.550751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183010; longitude = -117.782458; captureRadius = 10; duration = 100; initialDepth = 741.550751; finalDepth = 742.070692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.56679 # Actual altitude: 50.56679 # Commanded vehicle depth:741.550751 # Seafloor depth:-792.117541 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.341830 meters # Minimum depth: 791.306998 meters looking forward 100.000000 meters along route # Maximum depth: 791.384545 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.306998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183088; longitude = -117.781385; captureRadius = 10; duration = 100; initialDepth = 741.306998; finalDepth = 741.550751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.56679 # Actual altitude: 50.56679 # Commanded vehicle depth:741.306998 # Seafloor depth:-791.384545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.341723 meters # Minimum depth: 791.256658 meters looking forward 100.000000 meters along route # Maximum depth: 791.309069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.256658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183166; longitude = -117.780313; captureRadius = 10; duration = 100; initialDepth = 741.256658; finalDepth = 741.306998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.077547 # Actual altitude: 50.077547 # Commanded vehicle depth:741.256658 # Seafloor depth:-791.309069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.341617 meters # Minimum depth: 791.059464 meters looking forward 100.000000 meters along route # Maximum depth: 791.231673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.059464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183244; longitude = -117.779241; captureRadius = 10; duration = 100; initialDepth = 741.059464; finalDepth = 741.256658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.172209 # Actual altitude: 50.172209 # Commanded vehicle depth:741.059464 # Seafloor depth:-791.231673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.341510 meters # Minimum depth: 791.094193 meters looking forward 100.000000 meters along route # Maximum depth: 791.286880 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.094193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183323; longitude = -117.778169; captureRadius = 10; duration = 100; initialDepth = 741.094193; finalDepth = 741.059464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.172209 # Actual altitude: 50.172209 # Commanded vehicle depth:741.094193 # Seafloor depth:-791.094193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.341404 meters # Minimum depth: 791.065912 meters looking forward 100.000000 meters along route # Maximum depth: 791.286490 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.065912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183401; longitude = -117.777096; captureRadius = 10; duration = 100; initialDepth = 741.065912; finalDepth = 741.094193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2205779999999 # Actual altitude: 50.2205779999999 # Commanded vehicle depth:741.065912 # Seafloor depth:-791.286490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.88; 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 = 200.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.341297 meters # Minimum depth: 790.644842 meters looking forward 100.000000 meters along route # Maximum depth: 791.035858 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.644842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183479; longitude = -117.776024; captureRadius = 10; duration = 100; initialDepth = 740.644842; finalDepth = 741.065912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3910159999999 # Actual altitude: 50.3910159999999 # Commanded vehicle depth:740.644842 # Seafloor depth:-791.035858 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.56; 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 = 201.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.341191 meters # Minimum depth: 790.474327 meters looking forward 100.000000 meters along route # Maximum depth: 791.036664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.474327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183557; longitude = -117.774952; captureRadius = 10; duration = 100; initialDepth = 740.474327; finalDepth = 740.644842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3910159999999 # Actual altitude: 50.3910159999999 # Commanded vehicle depth:740.474327 # Seafloor depth:-790.474327 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.56; 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 = 201.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.341085 meters # Minimum depth: 790.970626 meters looking forward 100.000000 meters along route # Maximum depth: 791.486125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.970626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183635; longitude = -117.773879; captureRadius = 10; duration = 100; initialDepth = 740.970626; finalDepth = 740.474327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:740.970626 # Seafloor depth:-790.970626 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.340978 meters # Minimum depth: 791.585163 meters looking forward 100.000000 meters along route # Maximum depth: 793.481944 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.585163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183714; longitude = -117.772807; captureRadius = 10; duration = 100; initialDepth = 741.585163; finalDepth = 740.970626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:741.585163 # Seafloor depth:-791.585163 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.340872 meters # Minimum depth: 792.982919 meters looking forward 100.000000 meters along route # Maximum depth: 793.413403 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.982919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183792; longitude = -117.771735; captureRadius = 10; duration = 100; initialDepth = 742.982919; finalDepth = 741.585163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0522149999999 # Actual altitude: 50.0522149999999 # Commanded vehicle depth:742.982919 # Seafloor depth:-793.035134 # 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 13 # Segment length 100.340766 meters # Minimum depth: 793.279454 meters looking forward 100.000000 meters along route # Maximum depth: 794.180772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.279454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183870; longitude = -117.770663; captureRadius = 10; duration = 100; initialDepth = 743.279454; finalDepth = 742.982919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0522149999999 # Actual altitude: 50.0522149999999 # Commanded vehicle depth:743.279454 # Seafloor depth:-793.279454 # 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 13 # Segment length 100.340660 meters # Minimum depth: 793.313770 meters looking forward 100.000000 meters along route # Maximum depth: 794.279530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.313770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.183948; longitude = -117.769590; captureRadius = 10; duration = 100; initialDepth = 743.313770; finalDepth = 743.279454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:743.31377 # Seafloor depth:-793.313770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.340553 meters # Minimum depth: 794.334837 meters looking forward 100.000000 meters along route # Maximum depth: 794.399608 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.334837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184027; longitude = -117.768518; captureRadius = 10; duration = 100; initialDepth = 744.334837; finalDepth = 743.313770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:744.334837 # Seafloor depth:-794.334837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.340447 meters # Minimum depth: 793.835605 meters looking forward 100.000000 meters along route # Maximum depth: 794.388800 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.835605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184105; longitude = -117.767446; captureRadius = 10; duration = 100; initialDepth = 743.835605; finalDepth = 744.334837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.553195 # Actual altitude: 50.553195 # Commanded vehicle depth:743.835605 # Seafloor depth:-794.388800 # 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 13 # Segment length 100.340341 meters # Minimum depth: 793.172105 meters looking forward 100.000000 meters along route # Maximum depth: 793.610592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.172105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184183; longitude = -117.766374; captureRadius = 10; duration = 100; initialDepth = 743.172105; finalDepth = 743.835605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.553195 # Actual altitude: 50.553195 # Commanded vehicle depth:743.172105 # Seafloor depth:-793.569667 # 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 13 # Segment length 100.340235 meters # Minimum depth: 792.913050 meters looking forward 100.000000 meters along route # Maximum depth: 793.866606 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.913050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184261; longitude = -117.765301; captureRadius = 10; duration = 100; initialDepth = 742.913050; finalDepth = 743.172105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.950837 # Actual altitude: 50.950837 # Commanded vehicle depth:742.91305 # Seafloor depth:-793.863887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.80; 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 = 203.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.340129 meters # Minimum depth: 792.442947 meters looking forward 100.000000 meters along route # Maximum depth: 792.957047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.442947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184339; longitude = -117.764229; captureRadius = 10; duration = 100; initialDepth = 742.442947; finalDepth = 742.913050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.950837 # Actual altitude: 50.950837 # Commanded vehicle depth:742.442947 # Seafloor depth:-792.957047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.80; 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 = 203.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.340022 meters # Minimum depth: 791.068421 meters looking forward 100.000000 meters along route # Maximum depth: 792.199572 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.068421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184418; longitude = -117.763157; captureRadius = 10; duration = 100; initialDepth = 741.068421; finalDepth = 742.442947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.131151 # Actual altitude: 51.131151 # Commanded vehicle depth:741.068421 # Seafloor depth:-792.199572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.52; 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 = 204.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.339917 meters # Minimum depth: 790.966158 meters looking forward 100.000000 meters along route # Maximum depth: 791.717178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.966158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184496; longitude = -117.762084; captureRadius = 10; duration = 100; initialDepth = 740.966158; finalDepth = 741.068421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.131151 # Actual altitude: 51.131151 # Commanded vehicle depth:740.966158 # Seafloor depth:-791.281762 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.52; 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 = 204.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.339810 meters # Minimum depth: 791.546985 meters looking forward 100.000000 meters along route # Maximum depth: 792.145390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.546985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184574; longitude = -117.761012; captureRadius = 10; duration = 100; initialDepth = 741.546985; finalDepth = 740.966158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.315604 # Actual altitude: 50.315604 # Commanded vehicle depth:741.546985 # Seafloor depth:-791.546985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.26; 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 = 201.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.339705 meters # Minimum depth: 792.586128 meters looking forward 100.000000 meters along route # Maximum depth: 793.577998 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.586128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184652; longitude = -117.759940; captureRadius = 10; duration = 100; initialDepth = 742.586128; finalDepth = 741.546985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:742.586128 # Seafloor depth:-792.586128 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.339598 meters # Minimum depth: 793.346201 meters looking forward 100.000000 meters along route # Maximum depth: 793.924972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.346201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184731; longitude = -117.758868; captureRadius = 10; duration = 100; initialDepth = 743.346201; finalDepth = 742.586128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4969600000001 # Actual altitude: 50.4969600000001 # Commanded vehicle depth:743.346201 # Seafloor depth:-793.843161 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 201.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.339493 meters # Minimum depth: 791.398567 meters looking forward 100.000000 meters along route # Maximum depth: 792.963015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.398567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184809; longitude = -117.757795; captureRadius = 10; duration = 100; initialDepth = 741.398567; finalDepth = 743.346201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5644480000001 # Actual altitude: 51.5644480000001 # Commanded vehicle depth:741.398567 # Seafloor depth:-792.963015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.339386 meters # Minimum depth: 789.389352 meters looking forward 100.000000 meters along route # Maximum depth: 790.519263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.389352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184887; longitude = -117.756723; captureRadius = 10; duration = 100; initialDepth = 739.389352; finalDepth = 741.398567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5644480000001 # Actual altitude: 51.5644480000001 # Commanded vehicle depth:739.389352 # Seafloor depth:-790.519263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.339281 meters # Minimum depth: 788.146884 meters looking forward 100.000000 meters along route # Maximum depth: 788.946852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.146884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184965; longitude = -117.755651; captureRadius = 10; duration = 100; initialDepth = 738.146884; finalDepth = 739.389352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.129911 # Actual altitude: 51.129911 # Commanded vehicle depth:738.146884 # Seafloor depth:-788.946852 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.52; 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 = 204.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.339174 meters # Minimum depth: 788.297383 meters looking forward 100.000000 meters along route # Maximum depth: 790.233835 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.297383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185043; longitude = -117.754579; captureRadius = 10; duration = 100; initialDepth = 738.297383; finalDepth = 738.146884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.799968 # Actual altitude: 50.799968 # Commanded vehicle depth:738.297383 # Seafloor depth:-788.297383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.20; 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 = 203.20; 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 13 # Segment length 101.835072 meters # Minimum depth: 788.140556 meters looking forward 100.000000 meters along route # Maximum depth: 790.299313 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.140556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185122; longitude = -117.753506; captureRadius = 10; duration = 101; initialDepth = 738.140556; finalDepth = 738.297383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.158757 # Actual altitude: 52.158757 # Commanded vehicle depth:738.140556 # Seafloor depth:-790.299313 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.64; 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 = 208.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 38.797910 meters # Minimum depth: 788.100647 meters looking forward 100.000000 meters along route # Maximum depth: 788.903096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.100647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185201; longitude = -117.752418; captureRadius = 10; duration = 38; # abortOnTimeout = True; initialDepth = 738.100647; finalDepth = 738.140556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.158757 # Actual altitude: 52.158757 # Commanded vehicle depth:738.100647 # Seafloor depth:-788.100647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.64; 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 = 208.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 111.207728 meters # Minimum depth: 787.334899 meters looking forward 100.000000 meters along route # Maximum depth: 788.006999 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.334899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185550; longitude = -117.752454; captureRadius = 10; duration = 111; initialDepth = 737.334899; finalDepth = 738.100647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6721 # Actual altitude: 50.6721 # Commanded vehicle depth:737.334899 # Seafloor depth:-788.006999 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.69; 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 = 202.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 8.650183 meters # Minimum depth: 787.334899 meters looking forward 100.000000 meters along route # Maximum depth: 787.979675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.334899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186549; longitude = -117.752556; captureRadius = 10; duration = 8; # abortOnTimeout = True; initialDepth = 737.334899; finalDepth = 737.334899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6721 # Actual altitude: 50.6721 # Commanded vehicle depth:737.334899 # Seafloor depth:-787.979675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.69; 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 = 202.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.337504 meters # Minimum depth: 788.103210 meters looking forward 100.000000 meters along route # Maximum depth: 789.081023 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.103210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186542; longitude = -117.752648; captureRadius = 10; duration = 100; initialDepth = 738.103210; finalDepth = 737.334899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6447760000001 # Actual altitude: 50.6447760000001 # Commanded vehicle depth:738.10321 # Seafloor depth:-788.103210 # 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 = 151.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.337610 meters # Minimum depth: 789.484829 meters looking forward 100.000000 meters along route # Maximum depth: 789.929596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.484829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186464; longitude = -117.753721; captureRadius = 10; duration = 100; initialDepth = 739.484829; finalDepth = 738.103210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:739.484829 # Seafloor depth:-789.484829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.337715 meters # Minimum depth: 789.593539 meters looking forward 100.000000 meters along route # Maximum depth: 789.965651 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.593539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186386; longitude = -117.754793; captureRadius = 10; duration = 100; initialDepth = 739.593539; finalDepth = 739.484829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0845830000001 # Actual altitude: 50.0845830000001 # Commanded vehicle depth:739.593539 # Seafloor depth:-789.678122 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.337822 meters # Minimum depth: 790.147121 meters looking forward 100.000000 meters along route # Maximum depth: 790.938501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.147121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186308; longitude = -117.755865; captureRadius = 10; duration = 100; initialDepth = 740.147121; finalDepth = 739.593539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0845830000001 # Actual altitude: 50.0845830000001 # Commanded vehicle depth:740.147121 # Seafloor depth:-790.147121 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.337927 meters # Minimum depth: 791.208975 meters looking forward 100.000000 meters along route # Maximum depth: 791.928703 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.208975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186229; longitude = -117.756938; captureRadius = 10; duration = 100; initialDepth = 741.208975; finalDepth = 740.147121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:741.208975 # Seafloor depth:-791.208975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.338034 meters # Minimum depth: 792.149017 meters looking forward 100.000000 meters along route # Maximum depth: 792.511517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.149017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186151; longitude = -117.758010; captureRadius = 10; duration = 100; initialDepth = 742.149017; finalDepth = 741.208975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:742.149017 # Seafloor depth:-792.149017 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.338139 meters # Minimum depth: 792.110027 meters looking forward 100.000000 meters along route # Maximum depth: 792.460172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.110027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186073; longitude = -117.759082; captureRadius = 10; duration = 100; initialDepth = 742.110027; finalDepth = 742.149017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3501450000001 # Actual altitude: 50.3501450000001 # Commanded vehicle depth:742.110027 # Seafloor depth:-792.460172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.338246 meters # Minimum depth: 790.998369 meters looking forward 100.000000 meters along route # Maximum depth: 791.856565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.998369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185995; longitude = -117.760154; captureRadius = 10; duration = 100; initialDepth = 740.998369; finalDepth = 742.110027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.858196 # Actual altitude: 50.858196 # Commanded vehicle depth:740.998369 # Seafloor depth:-791.856565 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.43; 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 = 203.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.338351 meters # Minimum depth: 790.411150 meters looking forward 100.000000 meters along route # Maximum depth: 791.036428 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.411150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185917; longitude = -117.761227; captureRadius = 10; duration = 100; initialDepth = 740.411150; finalDepth = 740.998369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.858196 # Actual altitude: 50.858196 # Commanded vehicle depth:740.41115 # Seafloor depth:-790.938715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.43; 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 = 203.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.338458 meters # Minimum depth: 790.557242 meters looking forward 100.000000 meters along route # Maximum depth: 791.269418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.557242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185838; longitude = -117.762299; captureRadius = 10; duration = 100; initialDepth = 740.557242; finalDepth = 740.411150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.527565 # Actual altitude: 50.527565 # Commanded vehicle depth:740.557242 # Seafloor depth:-790.557242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.338564 meters # Minimum depth: 791.328026 meters looking forward 100.000000 meters along route # Maximum depth: 791.974315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.328026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185760; longitude = -117.763371; captureRadius = 10; duration = 100; initialDepth = 741.328026; finalDepth = 740.557242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:741.328026 # Seafloor depth:-791.328026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.338670 meters # Minimum depth: 792.128501 meters looking forward 100.000000 meters along route # Maximum depth: 792.232661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.128501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185682; longitude = -117.764443; captureRadius = 10; duration = 100; initialDepth = 742.128501; finalDepth = 741.328026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:742.128501 # Seafloor depth:-792.128501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.338776 meters # Minimum depth: 792.223468 meters looking forward 100.000000 meters along route # Maximum depth: 792.490885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.223468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185604; longitude = -117.765516; captureRadius = 10; duration = 100; initialDepth = 742.223468; finalDepth = 742.128501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:742.223468 # Seafloor depth:-792.223468 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.338882 meters # Minimum depth: 792.556001 meters looking forward 100.000000 meters along route # Maximum depth: 792.690214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.556001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185525; longitude = -117.766588; captureRadius = 10; duration = 100; initialDepth = 742.556001; finalDepth = 742.223468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:742.556001 # Seafloor depth:-792.556001 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.338988 meters # Minimum depth: 792.386120 meters looking forward 100.000000 meters along route # Maximum depth: 792.693928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.386120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185447; longitude = -117.767660; captureRadius = 10; duration = 100; initialDepth = 742.386120; finalDepth = 742.556001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.307808 # Actual altitude: 50.307808 # Commanded vehicle depth:742.38612 # Seafloor depth:-792.693928 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.23; 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 = 201.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.339095 meters # Minimum depth: 792.334596 meters looking forward 100.000000 meters along route # Maximum depth: 792.477282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.334596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185369; longitude = -117.768733; captureRadius = 10; duration = 100; initialDepth = 742.334596; finalDepth = 742.386120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.307808 # Actual altitude: 50.307808 # Commanded vehicle depth:742.334596 # Seafloor depth:-792.334596 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.23; 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 = 201.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.339201 meters # Minimum depth: 791.744908 meters looking forward 100.000000 meters along route # Maximum depth: 792.400200 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.744908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185291; longitude = -117.769805; captureRadius = 10; duration = 100; initialDepth = 741.744908; finalDepth = 742.334596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.655292 # Actual altitude: 50.655292 # Commanded vehicle depth:741.744908 # Seafloor depth:-792.400200 # 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 11 # Segment length 100.339307 meters # Minimum depth: 791.272822 meters looking forward 100.000000 meters along route # Maximum depth: 791.545586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.272822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185213; longitude = -117.770877; captureRadius = 10; duration = 100; initialDepth = 741.272822; finalDepth = 741.744908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.655292 # Actual altitude: 50.655292 # Commanded vehicle depth:741.272822 # Seafloor depth:-791.545586 # 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 11 # Segment length 100.339413 meters # Minimum depth: 791.521684 meters looking forward 100.000000 meters along route # Maximum depth: 791.926015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.521684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185134; longitude = -117.771949; captureRadius = 10; duration = 100; initialDepth = 741.521684; finalDepth = 741.272822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2727639999999 # Actual altitude: 50.2727639999999 # Commanded vehicle depth:741.521684 # Seafloor depth:-791.521684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.11; MB_Bottom_Detect_Filter_Max_Range = 201.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.339520 meters # Minimum depth: 791.243487 meters looking forward 100.000000 meters along route # Maximum depth: 791.798475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.243487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185056; longitude = -117.773022; captureRadius = 10; duration = 100; initialDepth = 741.243487; finalDepth = 741.521684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5549880000001 # Actual altitude: 50.5549880000001 # Commanded vehicle depth:741.243487 # Seafloor depth:-791.798475 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.22; 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 = 202.22; 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 11 # Segment length 100.339626 meters # Minimum depth: 790.599204 meters looking forward 100.000000 meters along route # Maximum depth: 791.106274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.599204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184978; longitude = -117.774094; captureRadius = 10; duration = 100; initialDepth = 740.599204; finalDepth = 741.243487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5549880000001 # Actual altitude: 50.5549880000001 # Commanded vehicle depth:740.599204 # Seafloor depth:-791.106274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.22; 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 = 202.22; 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 11 # Segment length 100.339733 meters # Minimum depth: 790.624706 meters looking forward 100.000000 meters along route # Maximum depth: 790.888273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.624706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184900; longitude = -117.775166; captureRadius = 10; duration = 100; initialDepth = 740.624706; finalDepth = 740.599204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.50707 # Actual altitude: 50.50707 # Commanded vehicle depth:740.624706 # Seafloor depth:-790.624706 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 202.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.339839 meters # Minimum depth: 790.863577 meters looking forward 100.000000 meters along route # Maximum depth: 791.188843 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.863577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184822; longitude = -117.776238; captureRadius = 10; duration = 100; initialDepth = 740.863577; finalDepth = 740.624706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:740.863577 # Seafloor depth:-790.863577 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.339945 meters # Minimum depth: 790.838507 meters looking forward 100.000000 meters along route # Maximum depth: 791.065998 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.838507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184743; longitude = -117.777311; captureRadius = 10; duration = 100; initialDepth = 740.838507; finalDepth = 740.863577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:740.838507 # Seafloor depth:-790.838507 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.340052 meters # Minimum depth: 790.832021 meters looking forward 100.000000 meters along route # Maximum depth: 790.935220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.832021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184665; longitude = -117.778383; captureRadius = 10; duration = 100; initialDepth = 740.832021; finalDepth = 740.838507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1031989999999 # Actual altitude: 50.1031989999999 # Commanded vehicle depth:740.832021 # Seafloor depth:-790.935220 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.41; 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 = 200.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.340158 meters # Minimum depth: 790.747103 meters looking forward 100.000000 meters along route # Maximum depth: 790.790532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.747103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184587; longitude = -117.779455; captureRadius = 10; duration = 100; initialDepth = 740.747103; finalDepth = 740.832021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1031989999999 # Actual altitude: 50.1031989999999 # Commanded vehicle depth:740.747103 # Seafloor depth:-790.789019 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.41; 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 = 200.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.340265 meters # Minimum depth: 790.872754 meters looking forward 100.000000 meters along route # Maximum depth: 791.407560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.872754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184509; longitude = -117.780528; captureRadius = 10; duration = 100; initialDepth = 740.872754; finalDepth = 740.747103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.041916 # Actual altitude: 50.041916 # Commanded vehicle depth:740.872754 # Seafloor depth:-790.872754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.17; 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 = 200.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 116.053419 meters # Minimum depth: 791.567067 meters looking forward 100.000000 meters along route # Maximum depth: 792.052731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.567067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184430; longitude = -117.781600; captureRadius = 10; duration = 116; initialDepth = 741.567067; finalDepth = 740.872754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:741.567067 # Seafloor depth:-791.567067 # 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 39.154250 meters # Minimum depth: 791.818128 meters looking forward 100.000000 meters along route # Maximum depth: 792.174351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.818128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184340; longitude = -117.782840; captureRadius = 10; duration = 39; # abortOnTimeout = True; initialDepth = 741.818128; finalDepth = 741.567067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.304003 # Actual altitude: 50.304003 # Commanded vehicle depth:741.818128 # Seafloor depth:-792.122131 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 110.860154 meters # Minimum depth: 792.193449 meters looking forward 100.000000 meters along route # Maximum depth: 792.229771 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.193449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.184692; longitude = -117.782876; captureRadius = 10; duration = 110; initialDepth = 742.193449; finalDepth = 741.818128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.304003 # Actual altitude: 50.304003 # Commanded vehicle depth:742.193449 # Seafloor depth:-792.193449 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 8.652079 meters # Minimum depth: 792.206876 meters looking forward 100.000000 meters along route # Maximum depth: 792.240295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.206876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185688; longitude = -117.782979; captureRadius = 10; duration = 8; # abortOnTimeout = True; initialDepth = 742.206876; finalDepth = 742.193449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.033419 # Actual altitude: 50.033419 # Commanded vehicle depth:742.206876 # Seafloor depth:-792.240295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.338856 meters # Minimum depth: 791.765693 meters looking forward 100.000000 meters along route # Maximum depth: 792.188749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.765693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185695; longitude = -117.782887; captureRadius = 10; duration = 100; initialDepth = 741.765693; finalDepth = 742.206876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.423056 # Actual altitude: 50.423056 # Commanded vehicle depth:741.765693 # Seafloor depth:-792.188749 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.69; 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 = 201.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.338749 meters # Minimum depth: 791.363445 meters looking forward 100.000000 meters along route # Maximum depth: 791.714844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.363445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185773; longitude = -117.781814; captureRadius = 10; duration = 100; initialDepth = 741.363445; finalDepth = 741.765693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.423056 # Actual altitude: 50.423056 # Commanded vehicle depth:741.363445 # Seafloor depth:-791.714844 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.69; 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 = 201.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.338643 meters # Minimum depth: 790.880113 meters looking forward 100.000000 meters along route # Maximum depth: 791.269524 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.880113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185851; longitude = -117.780742; captureRadius = 10; duration = 100; initialDepth = 740.880113; finalDepth = 741.363445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.389411 # Actual altitude: 50.389411 # Commanded vehicle depth:740.880113 # Seafloor depth:-791.269524 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.56; 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 = 201.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.338536 meters # Minimum depth: 790.581044 meters looking forward 100.000000 meters along route # Maximum depth: 790.801083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.581044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.185929; longitude = -117.779670; captureRadius = 10; duration = 100; initialDepth = 740.581044; finalDepth = 740.880113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.389411 # Actual altitude: 50.389411 # Commanded vehicle depth:740.581044 # Seafloor depth:-790.801083 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.56; 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 = 201.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.338430 meters # Minimum depth: 790.110869 meters looking forward 100.000000 meters along route # Maximum depth: 790.865863 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.110869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186008; longitude = -117.778597; captureRadius = 10; duration = 100; initialDepth = 740.110869; finalDepth = 740.581044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.754994 # Actual altitude: 50.754994 # Commanded vehicle depth:740.110869 # Seafloor depth:-790.865863 # 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 9 # Segment length 100.338324 meters # Minimum depth: 789.937600 meters looking forward 100.000000 meters along route # Maximum depth: 790.155635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.937600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186086; longitude = -117.777525; captureRadius = 10; duration = 100; initialDepth = 739.937600; finalDepth = 740.110869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.754994 # Actual altitude: 50.754994 # Commanded vehicle depth:739.9376 # Seafloor depth:-790.155635 # 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 9 # Segment length 100.338217 meters # Minimum depth: 789.984061 meters looking forward 100.000000 meters along route # Maximum depth: 790.058310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.984061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186164; longitude = -117.776453; captureRadius = 10; duration = 100; initialDepth = 739.984061; finalDepth = 739.937600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.218035 # Actual altitude: 50.218035 # Commanded vehicle depth:739.984061 # Seafloor depth:-789.985221 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.87; 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 = 200.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.338110 meters # Minimum depth: 789.585231 meters looking forward 100.000000 meters along route # Maximum depth: 790.017134 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.585231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186242; longitude = -117.775381; captureRadius = 10; duration = 100; initialDepth = 739.585231; finalDepth = 739.984061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.384426 # Actual altitude: 50.384426 # Commanded vehicle depth:739.585231 # Seafloor depth:-789.969657 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.338005 meters # Minimum depth: 789.637951 meters looking forward 100.000000 meters along route # Maximum depth: 790.398907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.637951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186320; longitude = -117.774308; captureRadius = 10; duration = 100; initialDepth = 739.637951; finalDepth = 739.585231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.384426 # Actual altitude: 50.384426 # Commanded vehicle depth:739.637951 # Seafloor depth:-789.787811 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.337898 meters # Minimum depth: 790.436967 meters looking forward 100.000000 meters along route # Maximum depth: 790.706083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.436967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186399; longitude = -117.773236; captureRadius = 10; duration = 100; initialDepth = 740.436967; finalDepth = 739.637951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.14986 # Actual altitude: 50.14986 # Commanded vehicle depth:740.436967 # Seafloor depth:-790.436967 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.60; 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 = 200.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.337791 meters # Minimum depth: 790.744218 meters looking forward 100.000000 meters along route # Maximum depth: 790.911722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.744218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186477; longitude = -117.772164; captureRadius = 10; duration = 100; initialDepth = 740.744218; finalDepth = 740.436967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:740.744218 # Seafloor depth:-790.744218 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.337686 meters # Minimum depth: 790.978871 meters looking forward 100.000000 meters along route # Maximum depth: 791.286647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.978871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186555; longitude = -117.771092; captureRadius = 10; duration = 100; initialDepth = 740.978871; finalDepth = 740.744218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:740.978871 # Seafloor depth:-790.978871 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.337579 meters # Minimum depth: 791.331048 meters looking forward 100.000000 meters along route # Maximum depth: 791.497455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.331048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186633; longitude = -117.770019; captureRadius = 10; duration = 100; initialDepth = 741.331048; finalDepth = 740.978871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:741.331048 # Seafloor depth:-791.331048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.337473 meters # Minimum depth: 791.523507 meters looking forward 100.000000 meters along route # Maximum depth: 791.592970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.523507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186712; longitude = -117.768947; captureRadius = 10; duration = 100; initialDepth = 741.523507; finalDepth = 741.331048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:741.523507 # Seafloor depth:-791.523507 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.337367 meters # Minimum depth: 791.585258 meters looking forward 100.000000 meters along route # Maximum depth: 791.604382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.585258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186790; longitude = -117.767875; captureRadius = 10; duration = 100; initialDepth = 741.585258; finalDepth = 741.523507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.01648 # Actual altitude: 50.01648 # Commanded vehicle depth:741.585258 # Seafloor depth:-791.601738 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.337260 meters # Minimum depth: 791.463745 meters looking forward 100.000000 meters along route # Maximum depth: 791.568989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.463745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186868; longitude = -117.766802; captureRadius = 10; duration = 100; initialDepth = 741.463745; finalDepth = 741.585258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.105244 # Actual altitude: 50.105244 # Commanded vehicle depth:741.463745 # Seafloor depth:-791.568989 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.42; 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 = 200.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.337155 meters # Minimum depth: 791.227127 meters looking forward 100.000000 meters along route # Maximum depth: 791.427557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.227127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.186946; longitude = -117.765730; captureRadius = 10; duration = 100; initialDepth = 741.227127; finalDepth = 741.463745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.20043 # Actual altitude: 50.20043 # Commanded vehicle depth:741.227127 # Seafloor depth:-791.427557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.337048 meters # Minimum depth: 790.635906 meters looking forward 100.000000 meters along route # Maximum depth: 791.150087 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.635906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187024; longitude = -117.764658; captureRadius = 10; duration = 100; initialDepth = 740.635906; finalDepth = 741.227127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.514181 # Actual altitude: 50.514181 # Commanded vehicle depth:740.635906 # Seafloor depth:-791.150087 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.06; 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 9 # Segment length 100.336942 meters # Minimum depth: 790.197803 meters looking forward 100.000000 meters along route # Maximum depth: 790.794338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.197803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187103; longitude = -117.763586; captureRadius = 10; duration = 100; initialDepth = 740.197803; finalDepth = 740.635906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.596535 # Actual altitude: 50.596535 # Commanded vehicle depth:740.197803 # Seafloor depth:-790.794338 # 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 9 # Segment length 100.336836 meters # Minimum depth: 789.717209 meters looking forward 100.000000 meters along route # Maximum depth: 790.591796 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.717209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187181; longitude = -117.762513; captureRadius = 10; duration = 100; initialDepth = 739.717209; finalDepth = 740.197803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.596535 # Actual altitude: 50.596535 # Commanded vehicle depth:739.717209 # Seafloor depth:-789.935361 # 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 9 # Segment length 100.336730 meters # Minimum depth: 790.371866 meters looking forward 100.000000 meters along route # Maximum depth: 790.597405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.371866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187259; longitude = -117.761441; captureRadius = 10; duration = 100; initialDepth = 740.371866; finalDepth = 739.717209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2181519999999 # Actual altitude: 50.2181519999999 # Commanded vehicle depth:740.371866 # Seafloor depth:-790.371866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.87; 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 = 200.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.336624 meters # Minimum depth: 790.665944 meters looking forward 100.000000 meters along route # Maximum depth: 790.870923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.665944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187337; longitude = -117.760369; captureRadius = 10; duration = 100; initialDepth = 740.665944; finalDepth = 740.371866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:740.665944 # Seafloor depth:-790.665944 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.336518 meters # Minimum depth: 790.859351 meters looking forward 100.000000 meters along route # Maximum depth: 790.907833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.859351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187415; longitude = -117.759297; captureRadius = 10; duration = 100; initialDepth = 740.859351; finalDepth = 740.665944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.036423 # Actual altitude: 50.036423 # Commanded vehicle depth:740.859351 # Seafloor depth:-790.895774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.336412 meters # Minimum depth: 790.581431 meters looking forward 100.000000 meters along route # Maximum depth: 790.824748 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.581431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187494; longitude = -117.758224; captureRadius = 10; duration = 100; initialDepth = 740.581431; finalDepth = 740.859351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.243317 # Actual altitude: 50.243317 # Commanded vehicle depth:740.581431 # Seafloor depth:-790.824748 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 200.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.336306 meters # Minimum depth: 790.207012 meters looking forward 100.000000 meters along route # Maximum depth: 790.507273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.207012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187572; longitude = -117.757152; captureRadius = 10; duration = 100; initialDepth = 740.207012; finalDepth = 740.581431; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3002610000001 # Actual altitude: 50.3002610000001 # Commanded vehicle depth:740.207012 # Seafloor depth:-790.507273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.20; 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 = 201.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.336200 meters # Minimum depth: 789.945131 meters looking forward 100.000000 meters along route # Maximum depth: 790.141872 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.945131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187650; longitude = -117.756080; captureRadius = 10; duration = 100; initialDepth = 739.945131; finalDepth = 740.207012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3002610000001 # Actual altitude: 50.3002610000001 # Commanded vehicle depth:739.945131 # Seafloor depth:-790.141872 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.20; 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 = 201.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.336094 meters # Minimum depth: 789.823630 meters looking forward 100.000000 meters along route # Maximum depth: 789.912704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.823630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187728; longitude = -117.755007; captureRadius = 10; duration = 100; initialDepth = 739.823630; finalDepth = 739.945131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1967410000001 # Actual altitude: 50.1967410000001 # Commanded vehicle depth:739.82363 # Seafloor depth:-789.912704 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.79; 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 = 200.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 116.046562 meters # Minimum depth: 789.762104 meters looking forward 100.000000 meters along route # Maximum depth: 789.802191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.762104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187807; longitude = -117.753935; captureRadius = 10; duration = 116; initialDepth = 739.762104; finalDepth = 739.823630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.089074 # Actual altitude: 50.089074 # Commanded vehicle depth:739.762104 # Seafloor depth:-789.802191 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.04; MB_Bottom_Detect_Filter_Max_Range = 200.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 49.028272 meters # Minimum depth: 789.722595 meters looking forward 100.000000 meters along route # Maximum depth: 790.029331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.722595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187897; longitude = -117.752695; captureRadius = 10; duration = 49; # abortOnTimeout = True; initialDepth = 739.722595; finalDepth = 739.762104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.040087 # Actual altitude: 50.040087 # Commanded vehicle depth:739.722595 # Seafloor depth:-789.722595 # 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 8 # Segment length 100.985427 meters # Minimum depth: 790.210286 meters looking forward 100.000000 meters along route # Maximum depth: 790.821755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.210286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188338; longitude = -117.752740; captureRadius = 10; duration = 100; initialDepth = 740.210286; finalDepth = 739.722595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:740.210286 # Seafloor depth:-790.210286 # 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 22.770827 meters # Minimum depth: 790.378568 meters looking forward 100.000000 meters along route # Maximum depth: 790.934631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.378568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189245; longitude = -117.752834; captureRadius = 10; duration = 22; # abortOnTimeout = True; initialDepth = 740.378568; finalDepth = 740.210286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.556063 # Actual altitude: 50.556063 # Commanded vehicle depth:740.378568 # Seafloor depth:-790.934631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.22; 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 = 202.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.334812 meters # Minimum depth: 790.369550 meters looking forward 100.000000 meters along route # Maximum depth: 790.721221 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.369550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189227; longitude = -117.753077; captureRadius = 10; duration = 100; initialDepth = 740.369550; finalDepth = 740.378568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.556063 # Actual altitude: 50.556063 # Commanded vehicle depth:740.36955 # Seafloor depth:-790.721221 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.22; 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 = 202.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.334918 meters # Minimum depth: 790.110131 meters looking forward 100.000000 meters along route # Maximum depth: 790.303407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.110131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189149; longitude = -117.754150; captureRadius = 10; duration = 100; initialDepth = 740.110131; finalDepth = 740.369550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.351671 # Actual altitude: 50.351671 # Commanded vehicle depth:740.110131 # Seafloor depth:-790.303407 # 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 7 # Segment length 100.335024 meters # Minimum depth: 789.997668 meters looking forward 100.000000 meters along route # Maximum depth: 790.077683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.997668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189071; longitude = -117.755222; captureRadius = 10; duration = 100; initialDepth = 739.997668; finalDepth = 740.110131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.193276 # Actual altitude: 50.193276 # Commanded vehicle depth:739.997668 # Seafloor depth:-790.077683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.335130 meters # Minimum depth: 789.984998 meters looking forward 100.000000 meters along route # Maximum depth: 789.990520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.984998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188992; longitude = -117.756294; captureRadius = 10; duration = 100; initialDepth = 739.984998; finalDepth = 739.997668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.080015 # Actual altitude: 50.080015 # Commanded vehicle depth:739.984998 # Seafloor depth:-789.990520 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.335236 meters # Minimum depth: 789.994384 meters looking forward 100.000000 meters along route # Maximum depth: 790.008672 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.994384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188914; longitude = -117.757366; captureRadius = 10; duration = 100; initialDepth = 739.994384; finalDepth = 739.984998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0055219999999 # Actual altitude: 50.0055219999999 # Commanded vehicle depth:739.994384 # Seafloor depth:-789.994384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.335341 meters # Minimum depth: 789.970596 meters looking forward 100.000000 meters along route # Maximum depth: 790.009054 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.970596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188836; longitude = -117.758439; captureRadius = 10; duration = 100; initialDepth = 739.970596; finalDepth = 739.994384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.038458 # Actual altitude: 50.038458 # Commanded vehicle depth:739.970596 # Seafloor depth:-790.009054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.15; 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 = 200.15; 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 7 # Segment length 100.335448 meters # Minimum depth: 789.853107 meters looking forward 100.000000 meters along route # Maximum depth: 789.961158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.853107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188758; longitude = -117.759511; captureRadius = 10; duration = 100; initialDepth = 739.853107; finalDepth = 739.970596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1080509999999 # Actual altitude: 50.1080509999999 # Commanded vehicle depth:739.853107 # Seafloor depth:-789.961158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.43; 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 = 200.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.335554 meters # Minimum depth: 789.633158 meters looking forward 100.000000 meters along route # Maximum depth: 789.816598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.633158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188679; longitude = -117.760583; captureRadius = 10; duration = 100; initialDepth = 739.633158; finalDepth = 739.853107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.18344 # Actual altitude: 50.18344 # Commanded vehicle depth:739.633158 # Seafloor depth:-789.816598 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.73; 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 = 200.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.335661 meters # Minimum depth: 789.535884 meters looking forward 100.000000 meters along route # Maximum depth: 790.134040 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.535884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188601; longitude = -117.761656; captureRadius = 10; duration = 100; initialDepth = 739.535884; finalDepth = 739.633158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.18344 # Actual altitude: 50.18344 # Commanded vehicle depth:739.535884 # Seafloor depth:-789.580177 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.73; 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 = 200.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.335766 meters # Minimum depth: 789.721945 meters looking forward 100.000000 meters along route # Maximum depth: 790.362185 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.721945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188523; longitude = -117.762728; captureRadius = 10; duration = 100; initialDepth = 739.721945; finalDepth = 739.535884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0789149999999 # Actual altitude: 50.0789149999999 # Commanded vehicle depth:739.721945 # Seafloor depth:-789.800860 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.335872 meters # Minimum depth: 790.462893 meters looking forward 100.000000 meters along route # Maximum depth: 790.684978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.462893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188445; longitude = -117.763800; captureRadius = 10; duration = 100; initialDepth = 740.462893; finalDepth = 739.721945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0789149999999 # Actual altitude: 50.0789149999999 # Commanded vehicle depth:740.462893 # Seafloor depth:-790.462893 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.335979 meters # Minimum depth: 790.677778 meters looking forward 100.000000 meters along route # Maximum depth: 790.714149 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.677778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188366; longitude = -117.764872; captureRadius = 10; duration = 100; initialDepth = 740.677778; finalDepth = 740.462893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:740.677778 # Seafloor depth:-790.677778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.336085 meters # Minimum depth: 790.716110 meters looking forward 100.000000 meters along route # Maximum depth: 790.718152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.716110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188288; longitude = -117.765945; captureRadius = 10; duration = 100; initialDepth = 740.716110; finalDepth = 740.677778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0006010000001 # Actual altitude: 50.0006010000001 # Commanded vehicle depth:740.71611 # Seafloor depth:-790.716711 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.336191 meters # Minimum depth: 790.720501 meters looking forward 100.000000 meters along route # Maximum depth: 790.748250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.720501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188210; longitude = -117.767017; captureRadius = 10; duration = 100; initialDepth = 740.720501; finalDepth = 740.716110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0006010000001 # Actual altitude: 50.0006010000001 # Commanded vehicle depth:740.720501 # Seafloor depth:-790.720501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.336297 meters # Minimum depth: 790.756831 meters looking forward 100.000000 meters along route # Maximum depth: 790.779926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.756831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188132; longitude = -117.768089; captureRadius = 10; duration = 100; initialDepth = 740.756831; finalDepth = 740.720501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:740.756831 # Seafloor depth:-790.756831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.336404 meters # Minimum depth: 790.703074 meters looking forward 100.000000 meters along route # Maximum depth: 790.767331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.703074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188053; longitude = -117.769161; captureRadius = 10; duration = 100; initialDepth = 740.703074; finalDepth = 740.756831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.064257 # Actual altitude: 50.064257 # Commanded vehicle depth:740.703074 # Seafloor depth:-790.767331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.336510 meters # Minimum depth: 790.313188 meters looking forward 100.000000 meters along route # Maximum depth: 790.781373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.313188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187975; longitude = -117.770234; captureRadius = 10; duration = 100; initialDepth = 740.313188; finalDepth = 740.703074; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4380170000001 # Actual altitude: 50.4380170000001 # Commanded vehicle depth:740.313188 # Seafloor depth:-790.751205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.336616 meters # Minimum depth: 789.228128 meters looking forward 100.000000 meters along route # Maximum depth: 790.764343 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.228128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187897; longitude = -117.771306; captureRadius = 10; duration = 100; initialDepth = 739.228128; finalDepth = 740.313188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.772116 # Actual altitude: 50.772116 # Commanded vehicle depth:739.228128 # Seafloor depth:-790.000244 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.09; 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 = 203.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.336723 meters # Minimum depth: 789.539658 meters looking forward 100.000000 meters along route # Maximum depth: 790.376466 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.539658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187819; longitude = -117.772378; captureRadius = 10; duration = 100; initialDepth = 739.539658; finalDepth = 739.228128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.772116 # Actual altitude: 50.772116 # Commanded vehicle depth:739.539658 # Seafloor depth:-789.710373 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.09; 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 = 203.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.336829 meters # Minimum depth: 789.073085 meters looking forward 100.000000 meters along route # Maximum depth: 789.988265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.073085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187740; longitude = -117.773451; captureRadius = 10; duration = 100; initialDepth = 739.073085; finalDepth = 739.539658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6478070000001 # Actual altitude: 50.6478070000001 # Commanded vehicle depth:739.073085 # Seafloor depth:-789.720892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.336935 meters # Minimum depth: 788.707480 meters looking forward 100.000000 meters along route # Maximum depth: 789.090313 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.707480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187662; longitude = -117.774523; captureRadius = 10; duration = 100; initialDepth = 738.707480; finalDepth = 739.073085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6478070000001 # Actual altitude: 50.6478070000001 # Commanded vehicle depth:738.70748 # Seafloor depth:-788.866068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.337042 meters # Minimum depth: 789.592823 meters looking forward 100.000000 meters along route # Maximum depth: 789.907527 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.592823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187584; longitude = -117.775595; captureRadius = 10; duration = 100; initialDepth = 739.592823; finalDepth = 738.707480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.314704 # Actual altitude: 50.314704 # Commanded vehicle depth:739.592823 # Seafloor depth:-789.907527 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.26; 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 = 201.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.337148 meters # Minimum depth: 789.920285 meters looking forward 100.000000 meters along route # Maximum depth: 790.212670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.920285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187506; longitude = -117.776667; captureRadius = 10; duration = 100; initialDepth = 739.920285; finalDepth = 739.592823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.314704 # Actual altitude: 50.314704 # Commanded vehicle depth:739.920285 # Seafloor depth:-789.920285 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.26; 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 = 201.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.337255 meters # Minimum depth: 790.280790 meters looking forward 100.000000 meters along route # Maximum depth: 790.538776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.280790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187427; longitude = -117.777740; captureRadius = 10; duration = 100; initialDepth = 740.280790; finalDepth = 739.920285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:740.28079 # Seafloor depth:-790.280790 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.337361 meters # Minimum depth: 790.606786 meters looking forward 100.000000 meters along route # Maximum depth: 790.893357 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.606786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187349; longitude = -117.778812; captureRadius = 10; duration = 100; initialDepth = 740.606786; finalDepth = 740.280790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:740.606786 # Seafloor depth:-790.606786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.337468 meters # Minimum depth: 790.968160 meters looking forward 100.000000 meters along route # Maximum depth: 791.286397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.968160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187271; longitude = -117.779884; captureRadius = 10; duration = 100; initialDepth = 740.968160; finalDepth = 740.606786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:740.96816 # Seafloor depth:-790.968160 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.337574 meters # Minimum depth: 791.368559 meters looking forward 100.000000 meters along route # Maximum depth: 791.704276 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.368559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187193; longitude = -117.780956; captureRadius = 10; duration = 100; initialDepth = 741.368559; finalDepth = 740.968160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:741.368559 # Seafloor depth:-791.368559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.929009 meters # Minimum depth: 791.790226 meters looking forward 100.000000 meters along route # Maximum depth: 792.229751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.790226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187114; longitude = -117.782029; captureRadius = 10; duration = 101; initialDepth = 741.790226; finalDepth = 741.368559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:741.790226 # Seafloor depth:-791.790226 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 49.496540 meters # Minimum depth: 792.052820 meters looking forward 100.000000 meters along route # Maximum depth: 792.279297 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.052820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187035; longitude = -117.783118; captureRadius = 10; duration = 49; # abortOnTimeout = True; initialDepth = 742.052820; finalDepth = 741.790226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.226477 # Actual altitude: 50.226477 # Commanded vehicle depth:742.05282 # Seafloor depth:-792.279297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.91; 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 = 200.91; 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 6 # Segment length 100.525982 meters # Minimum depth: 792.228417 meters looking forward 100.000000 meters along route # Maximum depth: 792.234352 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.228417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.187480; longitude = -117.783164; captureRadius = 10; duration = 100; initialDepth = 742.228417; finalDepth = 742.052820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.226477 # Actual altitude: 50.226477 # Commanded vehicle depth:742.228417 # Seafloor depth:-792.234352 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.91; 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 = 200.91; 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 to get to end of line 5 # Segment length 14.691573 meters # Minimum depth: 792.206482 meters looking forward 100.000000 meters along route # Maximum depth: 792.232493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.206482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188383; longitude = -117.783258; captureRadius = 10; duration = 14; # abortOnTimeout = True; initialDepth = 742.206482; finalDepth = 742.228417; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0059349999999 # Actual altitude: 50.0059349999999 # Commanded vehicle depth:742.206482 # Seafloor depth:-792.206482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.336119 meters # Minimum depth: 791.841598 meters looking forward 100.000000 meters along route # Maximum depth: 792.167834 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.841598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188394; longitude = -117.783101; captureRadius = 10; duration = 100; initialDepth = 741.841598; finalDepth = 742.206482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.326236 # Actual altitude: 50.326236 # Commanded vehicle depth:741.841598 # Seafloor depth:-792.167834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.30; 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 = 201.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.336013 meters # Minimum depth: 791.442611 meters looking forward 100.000000 meters along route # Maximum depth: 791.759953 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.442611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188473; longitude = -117.782029; captureRadius = 10; duration = 100; initialDepth = 741.442611; finalDepth = 741.841598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.326236 # Actual altitude: 50.326236 # Commanded vehicle depth:741.442611 # Seafloor depth:-791.759953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.30; 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 = 201.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.335906 meters # Minimum depth: 791.058908 meters looking forward 100.000000 meters along route # Maximum depth: 791.363780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.058908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188551; longitude = -117.780956; captureRadius = 10; duration = 100; initialDepth = 741.058908; finalDepth = 741.442611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3173419999999 # Actual altitude: 50.3173419999999 # Commanded vehicle depth:741.058908 # Seafloor depth:-791.363780 # 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 = 150.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.335799 meters # Minimum depth: 790.694081 meters looking forward 100.000000 meters along route # Maximum depth: 790.984482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.694081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188629; longitude = -117.779884; captureRadius = 10; duration = 100; initialDepth = 740.694081; finalDepth = 741.058908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.304872 # Actual altitude: 50.304872 # Commanded vehicle depth:740.694081 # Seafloor depth:-790.984482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.335693 meters # Minimum depth: 790.343506 meters looking forward 100.000000 meters along route # Maximum depth: 790.623132 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.343506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188707; longitude = -117.778812; captureRadius = 10; duration = 100; initialDepth = 740.343506; finalDepth = 740.694081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.290401 # Actual altitude: 50.290401 # Commanded vehicle depth:740.343506 # Seafloor depth:-790.623132 # 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 5 # Segment length 100.335587 meters # Minimum depth: 789.996152 meters looking forward 100.000000 meters along route # Maximum depth: 790.274148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.996152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188786; longitude = -117.777740; captureRadius = 10; duration = 100; initialDepth = 739.996152; finalDepth = 740.343506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.279626 # Actual altitude: 50.279626 # Commanded vehicle depth:739.996152 # Seafloor depth:-790.274148 # 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 5 # Segment length 100.335480 meters # Minimum depth: 789.628301 meters looking forward 100.000000 meters along route # Maximum depth: 789.928112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.628301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188864; longitude = -117.776667; captureRadius = 10; duration = 100; initialDepth = 739.628301; finalDepth = 739.996152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2998110000001 # Actual altitude: 50.2998110000001 # Commanded vehicle depth:739.628301 # Seafloor depth:-789.928112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.20; 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 = 201.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.335374 meters # Minimum depth: 789.225373 meters looking forward 100.000000 meters along route # Maximum depth: 789.543463 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.225373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.188942; longitude = -117.775595; captureRadius = 10; duration = 100; initialDepth = 739.225373; finalDepth = 739.628301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.31809 # Actual altitude: 50.31809 # Commanded vehicle depth:739.225373 # Seafloor depth:-789.543463 # 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 = 150.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.335267 meters # Minimum depth: 788.930594 meters looking forward 100.000000 meters along route # Maximum depth: 789.161917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.930594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189020; longitude = -117.774523; captureRadius = 10; duration = 100; initialDepth = 738.930594; finalDepth = 739.225373; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.31809 # Actual altitude: 50.31809 # Commanded vehicle depth:738.930594 # Seafloor depth:-789.161917 # 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 = 150.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.335161 meters # Minimum depth: 788.703700 meters looking forward 100.000000 meters along route # Maximum depth: 788.876493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.703700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189099; longitude = -117.773451; captureRadius = 10; duration = 100; initialDepth = 738.703700; finalDepth = 738.930594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.231323 # Actual altitude: 50.231323 # Commanded vehicle depth:738.7037 # Seafloor depth:-788.876493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.335055 meters # Minimum depth: 787.787776 meters looking forward 100.000000 meters along route # Maximum depth: 788.321268 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.787776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189177; longitude = -117.772378; captureRadius = 10; duration = 100; initialDepth = 737.787776; finalDepth = 738.703700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.533492 # Actual altitude: 50.533492 # Commanded vehicle depth:737.787776 # Seafloor depth:-788.321268 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.334948 meters # Minimum depth: 787.586433 meters looking forward 100.000000 meters along route # Maximum depth: 788.514656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.586433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189255; longitude = -117.771306; captureRadius = 10; duration = 100; initialDepth = 737.586433; finalDepth = 737.787776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.533492 # Actual altitude: 50.533492 # Commanded vehicle depth:737.586433 # Seafloor depth:-787.684213 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.334842 meters # Minimum depth: 788.832402 meters looking forward 100.000000 meters along route # Maximum depth: 789.999457 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.832402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189333; longitude = -117.770234; captureRadius = 10; duration = 100; initialDepth = 738.832402; finalDepth = 737.586433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0977799999999 # Actual altitude: 50.0977799999999 # Commanded vehicle depth:738.832402 # Seafloor depth:-788.832402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.04; MB_Bottom_Detect_Filter_Max_Range = 200.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.334736 meters # Minimum depth: 789.723345 meters looking forward 100.000000 meters along route # Maximum depth: 790.094491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.723345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189412; longitude = -117.769161; captureRadius = 10; duration = 100; initialDepth = 739.723345; finalDepth = 738.832402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.287747 # Actual altitude: 50.287747 # Commanded vehicle depth:739.723345 # Seafloor depth:-790.011092 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.334629 meters # Minimum depth: 789.733561 meters looking forward 100.000000 meters along route # Maximum depth: 789.855917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.733561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189490; longitude = -117.768089; captureRadius = 10; duration = 100; initialDepth = 739.733561; finalDepth = 739.723345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.287747 # Actual altitude: 50.287747 # Commanded vehicle depth:739.733561 # Seafloor depth:-789.855917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.334523 meters # Minimum depth: 789.781759 meters looking forward 100.000000 meters along route # Maximum depth: 790.010597 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.781759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189568; longitude = -117.767017; captureRadius = 10; duration = 100; initialDepth = 739.781759; finalDepth = 739.733561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.122356 # Actual altitude: 50.122356 # Commanded vehicle depth:739.781759 # Seafloor depth:-789.781759 # 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 = 150.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.334417 meters # Minimum depth: 790.084918 meters looking forward 100.000000 meters along route # Maximum depth: 790.342315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.084918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189646; longitude = -117.765945; captureRadius = 10; duration = 100; initialDepth = 740.084918; finalDepth = 739.781759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:740.084918 # Seafloor depth:-790.084918 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.334311 meters # Minimum depth: 790.389244 meters looking forward 100.000000 meters along route # Maximum depth: 790.608003 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.389244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189725; longitude = -117.764872; captureRadius = 10; duration = 100; initialDepth = 740.389244; finalDepth = 740.084918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:740.389244 # Seafloor depth:-790.389244 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.334205 meters # Minimum depth: 789.888788 meters looking forward 100.000000 meters along route # Maximum depth: 790.260512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.888788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189803; longitude = -117.763800; captureRadius = 10; duration = 100; initialDepth = 739.888788; finalDepth = 740.389244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.371724 # Actual altitude: 50.371724 # Commanded vehicle depth:739.888788 # Seafloor depth:-790.260512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.334098 meters # Minimum depth: 788.802412 meters looking forward 100.000000 meters along route # Maximum depth: 789.542814 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.802412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189881; longitude = -117.762728; captureRadius = 10; duration = 100; initialDepth = 738.802412; finalDepth = 739.888788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.740402 # Actual altitude: 50.740402 # Commanded vehicle depth:738.802412 # Seafloor depth:-789.542814 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 202.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.333993 meters # Minimum depth: 789.062831 meters looking forward 100.000000 meters along route # Maximum depth: 789.213104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.062831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189959; longitude = -117.761656; captureRadius = 10; duration = 100; initialDepth = 739.062831; finalDepth = 738.802412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.740402 # Actual altitude: 50.740402 # Commanded vehicle depth:739.062831 # Seafloor depth:-789.062831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 202.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.333886 meters # Minimum depth: 789.240172 meters looking forward 100.000000 meters along route # Maximum depth: 789.348646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.240172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190038; longitude = -117.760583; captureRadius = 10; duration = 100; initialDepth = 739.240172; finalDepth = 739.062831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:739.240172 # Seafloor depth:-789.240172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.333780 meters # Minimum depth: 789.375021 meters looking forward 100.000000 meters along route # Maximum depth: 789.493740 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.375021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190116; longitude = -117.759511; captureRadius = 10; duration = 100; initialDepth = 739.375021; finalDepth = 739.240172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:739.375021 # Seafloor depth:-789.375021 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.333674 meters # Minimum depth: 789.526626 meters looking forward 100.000000 meters along route # Maximum depth: 789.704497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.526626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190194; longitude = -117.758439; captureRadius = 10; duration = 100; initialDepth = 739.526626; finalDepth = 739.375021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:739.526626 # Seafloor depth:-789.526626 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.333569 meters # Minimum depth: 789.717884 meters looking forward 100.000000 meters along route # Maximum depth: 789.924076 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.717884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190272; longitude = -117.757366; captureRadius = 10; duration = 100; initialDepth = 739.717884; finalDepth = 739.526626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:739.717884 # Seafloor depth:-789.717884 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.333462 meters # Minimum depth: 789.983893 meters looking forward 100.000000 meters along route # Maximum depth: 790.270296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.983893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190351; longitude = -117.756294; captureRadius = 10; duration = 100; initialDepth = 739.983893; finalDepth = 739.717884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:739.983893 # Seafloor depth:-789.983893 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.333356 meters # Minimum depth: 790.354414 meters looking forward 100.000000 meters along route # Maximum depth: 790.746563 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.354414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190429; longitude = -117.755222; captureRadius = 10; duration = 100; initialDepth = 740.354414; finalDepth = 739.983893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:740.354414 # Seafloor depth:-790.354414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.097416 meters # Minimum depth: 790.860523 meters looking forward 100.000000 meters along route # Maximum depth: 791.527619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.860523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190507; longitude = -117.754150; captureRadius = 10; duration = 110; initialDepth = 740.860523; finalDepth = 740.354414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:740.860523 # Seafloor depth:-790.860523 # 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 4 # Segment length 35.390935 meters # Minimum depth: 791.239192 meters looking forward 100.000000 meters along route # Maximum depth: 791.656765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.239192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190593; longitude = -117.752973; captureRadius = 10; duration = 35; # abortOnTimeout = True; initialDepth = 741.239192; finalDepth = 740.860523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.363957 # Actual altitude: 50.363957 # Commanded vehicle depth:741.239192 # Seafloor depth:-791.603149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 114.512345 meters # Minimum depth: 791.767206 meters looking forward 100.000000 meters along route # Maximum depth: 792.201259 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.767206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190911; longitude = -117.753006; captureRadius = 10; duration = 114; initialDepth = 741.767206; finalDepth = 741.239192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.363957 # Actual altitude: 50.363957 # Commanded vehicle depth:741.767206 # Seafloor depth:-791.767206 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 16.822907 meters # Minimum depth: 791.982402 meters looking forward 100.000000 meters along route # Maximum depth: 792.201259 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.982402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191940; longitude = -117.753112; captureRadius = 10; duration = 16; # abortOnTimeout = True; initialDepth = 741.982402; finalDepth = 741.767206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.216145 # Actual altitude: 50.216145 # Commanded vehicle depth:741.982402 # Seafloor depth:-792.198547 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.86; 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 = 200.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.323786 meters # Minimum depth: 791.512539 meters looking forward 100.000000 meters along route # Maximum depth: 792.148870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.512539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191927; longitude = -117.753292; captureRadius = 10; duration = 100; initialDepth = 741.512539; finalDepth = 741.982402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.636331 # Actual altitude: 50.636331 # Commanded vehicle depth:741.512539 # Seafloor depth:-792.148870 # 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 3 # Segment length 100.323890 meters # Minimum depth: 790.818238 meters looking forward 100.000000 meters along route # Maximum depth: 791.363764 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.818238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191850; longitude = -117.754364; captureRadius = 10; duration = 100; initialDepth = 740.818238; finalDepth = 741.512539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.636331 # Actual altitude: 50.636331 # Commanded vehicle depth:740.818238 # Seafloor depth:-791.363764 # 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 3 # Segment length 100.323996 meters # Minimum depth: 790.230223 meters looking forward 100.000000 meters along route # Maximum depth: 790.691783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.230223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191772; longitude = -117.755436; captureRadius = 10; duration = 100; initialDepth = 740.230223; finalDepth = 740.818238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.545526 # Actual altitude: 50.545526 # Commanded vehicle depth:740.230223 # Seafloor depth:-790.691783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.18; 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 = 202.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.324101 meters # Minimum depth: 789.742921 meters looking forward 100.000000 meters along route # Maximum depth: 790.125832 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.742921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191695; longitude = -117.756509; captureRadius = 10; duration = 100; initialDepth = 739.742921; finalDepth = 740.230223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.46156 # Actual altitude: 50.46156 # Commanded vehicle depth:739.742921 # Seafloor depth:-790.125832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.324205 meters # Minimum depth: 789.342402 meters looking forward 100.000000 meters along route # Maximum depth: 789.656125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.342402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191617; longitude = -117.757581; captureRadius = 10; duration = 100; initialDepth = 739.342402; finalDepth = 739.742921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3829109999999 # Actual altitude: 50.3829109999999 # Commanded vehicle depth:739.342402 # Seafloor depth:-789.656125 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.324311 meters # Minimum depth: 789.036407 meters looking forward 100.000000 meters along route # Maximum depth: 789.277987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.036407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191540; longitude = -117.758653; captureRadius = 10; duration = 100; initialDepth = 739.036407; finalDepth = 739.342402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.313723 # Actual altitude: 50.313723 # Commanded vehicle depth:739.036407 # Seafloor depth:-789.277987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.324416 meters # Minimum depth: 788.838452 meters looking forward 100.000000 meters along route # Maximum depth: 788.985094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.838452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191463; longitude = -117.759725; captureRadius = 10; duration = 100; initialDepth = 738.838452; finalDepth = 739.036407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.24158 # Actual altitude: 50.24158 # Commanded vehicle depth:738.838452 # Seafloor depth:-788.985094 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 200.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.324521 meters # Minimum depth: 788.819137 meters looking forward 100.000000 meters along route # Maximum depth: 788.936455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.819137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191385; longitude = -117.760798; captureRadius = 10; duration = 100; initialDepth = 738.819137; finalDepth = 738.838452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.146642 # Actual altitude: 50.146642 # Commanded vehicle depth:738.819137 # Seafloor depth:-788.822763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.324626 meters # Minimum depth: 788.862787 meters looking forward 100.000000 meters along route # Maximum depth: 789.273029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.862787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191308; longitude = -117.761870; captureRadius = 10; duration = 100; initialDepth = 738.862787; finalDepth = 738.819137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1742389999999 # Actual altitude: 50.1742389999999 # Commanded vehicle depth:738.862787 # Seafloor depth:-789.037026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.70; 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 = 200.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.324732 meters # Minimum depth: 788.829679 meters looking forward 100.000000 meters along route # Maximum depth: 789.653465 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.829679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191230; longitude = -117.762942; captureRadius = 10; duration = 100; initialDepth = 738.829679; finalDepth = 738.862787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1742389999999 # Actual altitude: 50.1742389999999 # Commanded vehicle depth:738.829679 # Seafloor depth:-788.900434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.70; 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 = 200.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.324837 meters # Minimum depth: 789.688262 meters looking forward 100.000000 meters along route # Maximum depth: 790.060563 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.688262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191153; longitude = -117.764015; captureRadius = 10; duration = 100; initialDepth = 739.688262; finalDepth = 738.829679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.070755 # Actual altitude: 50.070755 # Commanded vehicle depth:739.688262 # Seafloor depth:-789.688262 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.324941 meters # Minimum depth: 789.814997 meters looking forward 100.000000 meters along route # Maximum depth: 790.589989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.814997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191075; longitude = -117.765087; captureRadius = 10; duration = 100; initialDepth = 739.814997; finalDepth = 739.688262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.440004 # Actual altitude: 50.440004 # Commanded vehicle depth:739.814997 # Seafloor depth:-790.255001 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.325048 meters # Minimum depth: 788.711359 meters looking forward 100.000000 meters along route # Maximum depth: 789.964138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.711359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190998; longitude = -117.766159; captureRadius = 10; duration = 100; initialDepth = 738.711359; finalDepth = 739.814997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.252779 # Actual altitude: 51.252779 # Commanded vehicle depth:738.711359 # Seafloor depth:-789.964138 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 205.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.325152 meters # Minimum depth: 788.487151 meters looking forward 100.000000 meters along route # Maximum depth: 788.861187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.487151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190921; longitude = -117.767231; captureRadius = 10; duration = 100; initialDepth = 738.487151; finalDepth = 738.711359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.252779 # Actual altitude: 51.252779 # Commanded vehicle depth:738.487151 # Seafloor depth:-788.495615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 205.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.325258 meters # Minimum depth: 788.582767 meters looking forward 100.000000 meters along route # Maximum depth: 788.889554 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.582767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190843; longitude = -117.768304; captureRadius = 10; duration = 100; initialDepth = 738.582767; finalDepth = 738.487151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.131987 # Actual altitude: 50.131987 # Commanded vehicle depth:738.582767 # Seafloor depth:-788.714754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.53; 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 = 200.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.325363 meters # Minimum depth: 788.092039 meters looking forward 100.000000 meters along route # Maximum depth: 788.763039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.092039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190766; longitude = -117.769376; captureRadius = 10; duration = 100; initialDepth = 738.092039; finalDepth = 738.582767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.671 # Actual altitude: 50.671 # Commanded vehicle depth:738.092039 # Seafloor depth:-788.763039 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.68; 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 = 202.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.325469 meters # Minimum depth: 788.395243 meters looking forward 100.000000 meters along route # Maximum depth: 788.439851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.395243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190688; longitude = -117.770448; captureRadius = 10; duration = 100; initialDepth = 738.395243; finalDepth = 738.092039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.671 # Actual altitude: 50.671 # Commanded vehicle depth:738.395243 # Seafloor depth:-788.439851 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.68; 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 = 202.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.325574 meters # Minimum depth: 788.434265 meters looking forward 100.000000 meters along route # Maximum depth: 788.605158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.434265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190611; longitude = -117.771520; captureRadius = 10; duration = 100; initialDepth = 738.434265; finalDepth = 738.395243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0446079999999 # Actual altitude: 50.0446079999999 # Commanded vehicle depth:738.434265 # Seafloor depth:-788.434265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.18; 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 = 200.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.325679 meters # Minimum depth: 788.675858 meters looking forward 100.000000 meters along route # Maximum depth: 788.957293 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.675858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190534; longitude = -117.772593; captureRadius = 10; duration = 100; initialDepth = 738.675858; finalDepth = 738.434265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:738.675858 # Seafloor depth:-788.675858 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.325785 meters # Minimum depth: 789.023679 meters looking forward 100.000000 meters along route # Maximum depth: 789.278829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.023679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190456; longitude = -117.773665; captureRadius = 10; duration = 100; initialDepth = 739.023679; finalDepth = 738.675858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:739.023679 # Seafloor depth:-789.023679 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.325891 meters # Minimum depth: 789.342331 meters looking forward 100.000000 meters along route # Maximum depth: 789.603404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.342331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190379; longitude = -117.774737; captureRadius = 10; duration = 100; initialDepth = 739.342331; finalDepth = 739.023679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:739.342331 # Seafloor depth:-789.342331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.325995 meters # Minimum depth: 789.669541 meters looking forward 100.000000 meters along route # Maximum depth: 789.937197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.669541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190301; longitude = -117.775810; captureRadius = 10; duration = 100; initialDepth = 739.669541; finalDepth = 739.342331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:739.669541 # Seafloor depth:-789.669541 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.326102 meters # Minimum depth: 790.004823 meters looking forward 100.000000 meters along route # Maximum depth: 790.276017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.004823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190224; longitude = -117.776882; captureRadius = 10; duration = 100; initialDepth = 740.004823; finalDepth = 739.669541; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:740.004823 # Seafloor depth:-790.004823 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.326207 meters # Minimum depth: 790.344005 meters looking forward 100.000000 meters along route # Maximum depth: 790.622070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.344005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190147; longitude = -117.777954; captureRadius = 10; duration = 100; initialDepth = 740.344005; finalDepth = 740.004823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:740.344005 # Seafloor depth:-790.344005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.326312 meters # Minimum depth: 790.693133 meters looking forward 100.000000 meters along route # Maximum depth: 790.980225 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.693133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190069; longitude = -117.779026; captureRadius = 10; duration = 100; initialDepth = 740.693133; finalDepth = 740.344005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:740.693133 # Seafloor depth:-790.693133 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.326418 meters # Minimum depth: 791.053189 meters looking forward 100.000000 meters along route # Maximum depth: 791.350453 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.053189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189992; longitude = -117.780099; captureRadius = 10; duration = 100; initialDepth = 741.053189; finalDepth = 740.693133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:741.053189 # Seafloor depth:-791.053189 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.326524 meters # Minimum depth: 791.425093 meters looking forward 100.000000 meters along route # Maximum depth: 791.796307 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.425093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189914; longitude = -117.781171; captureRadius = 10; duration = 100; initialDepth = 741.425093; finalDepth = 741.053189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:741.425093 # Seafloor depth:-791.425093 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.775747 meters # Minimum depth: 791.805709 meters looking forward 100.000000 meters along route # Maximum depth: 792.192433 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.805709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189837; longitude = -117.782243; captureRadius = 10; duration = 104; initialDepth = 741.805709; finalDepth = 741.425093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:741.805709 # Seafloor depth:-791.805709 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 33.158940 meters # Minimum depth: 791.959469 meters looking forward 100.000000 meters along route # Maximum depth: 792.232544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.959469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.189756; longitude = -117.783363; captureRadius = 10; duration = 33; # abortOnTimeout = True; initialDepth = 741.959469; finalDepth = 741.805709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2730749999999 # Actual altitude: 50.2730749999999 # Commanded vehicle depth:741.959469 # Seafloor depth:-792.232544 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.11; MB_Bottom_Detect_Filter_Max_Range = 201.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 114.227871 meters # Minimum depth: 792.213461 meters looking forward 100.000000 meters along route # Maximum depth: 792.229420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.213461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.190053; longitude = -117.783403; captureRadius = 10; duration = 114; initialDepth = 742.213461; finalDepth = 741.959469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2730749999999 # Actual altitude: 50.2730749999999 # Commanded vehicle depth:742.213461 # Seafloor depth:-792.213461 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.11; MB_Bottom_Detect_Filter_Max_Range = 201.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 21.011068 meters # Minimum depth: 792.219910 meters looking forward 100.000000 meters along route # Maximum depth: 792.266602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.219910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191077; longitude = -117.783540; captureRadius = 10; duration = 21; # abortOnTimeout = True; initialDepth = 742.219910; finalDepth = 742.213461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.046692 # Actual altitude: 50.046692 # Commanded vehicle depth:742.21991 # Seafloor depth:-792.266602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.19; 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 = 200.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.331553 meters # Minimum depth: 791.853136 meters looking forward 100.000000 meters along route # Maximum depth: 792.152416 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.853136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191093; longitude = -117.783315; captureRadius = 10; duration = 100; initialDepth = 741.853136; finalDepth = 742.219910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2992800000001 # Actual altitude: 50.2992800000001 # Commanded vehicle depth:741.853136 # Seafloor depth:-792.152416 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.20; 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 = 201.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.331446 meters # Minimum depth: 791.484487 meters looking forward 100.000000 meters along route # Maximum depth: 791.778634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.484487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191171; longitude = -117.782243; captureRadius = 10; duration = 100; initialDepth = 741.484487; finalDepth = 741.853136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2992800000001 # Actual altitude: 50.2992800000001 # Commanded vehicle depth:741.484487 # Seafloor depth:-791.778634 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.20; 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 = 201.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.331341 meters # Minimum depth: 791.121699 meters looking forward 100.000000 meters along route # Maximum depth: 791.409618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.121699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191250; longitude = -117.781171; captureRadius = 10; duration = 100; initialDepth = 741.121699; finalDepth = 741.484487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2941470000001 # Actual altitude: 50.2941470000001 # Commanded vehicle depth:741.121699 # Seafloor depth:-791.409618 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.18; 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 = 201.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.331233 meters # Minimum depth: 790.768825 meters looking forward 100.000000 meters along route # Maximum depth: 791.049100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.768825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191328; longitude = -117.780099; captureRadius = 10; duration = 100; initialDepth = 740.768825; finalDepth = 741.121699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.287919 # Actual altitude: 50.287919 # Commanded vehicle depth:740.768825 # Seafloor depth:-791.049100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.331128 meters # Minimum depth: 790.429728 meters looking forward 100.000000 meters along route # Maximum depth: 790.699893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.429728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191406; longitude = -117.779026; captureRadius = 10; duration = 100; initialDepth = 740.429728; finalDepth = 740.768825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.280275 # Actual altitude: 50.280275 # Commanded vehicle depth:740.429728 # Seafloor depth:-790.699893 # 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 1 # Segment length 100.331021 meters # Minimum depth: 790.073974 meters looking forward 100.000000 meters along route # Maximum depth: 790.363952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.073974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191484; longitude = -117.777954; captureRadius = 10; duration = 100; initialDepth = 740.073974; finalDepth = 740.429728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.289978 # Actual altitude: 50.289978 # Commanded vehicle depth:740.073974 # Seafloor depth:-790.363952 # 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 1 # Segment length 100.330915 meters # Minimum depth: 789.796549 meters looking forward 100.000000 meters along route # Maximum depth: 790.043748 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.796549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191562; longitude = -117.776882; captureRadius = 10; duration = 100; initialDepth = 739.796549; finalDepth = 740.073974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.289978 # Actual altitude: 50.289978 # Commanded vehicle depth:739.796549 # Seafloor depth:-790.043748 # 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 1 # Segment length 100.330808 meters # Minimum depth: 789.508382 meters looking forward 100.000000 meters along route # Maximum depth: 789.736268 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.508382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191640; longitude = -117.775810; captureRadius = 10; duration = 100; initialDepth = 739.508382; finalDepth = 739.796549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.247199 # Actual altitude: 50.247199 # Commanded vehicle depth:739.508382 # Seafloor depth:-789.736268 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 200.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.330703 meters # Minimum depth: 789.239707 meters looking forward 100.000000 meters along route # Maximum depth: 789.452652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.239707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191718; longitude = -117.774737; captureRadius = 10; duration = 100; initialDepth = 739.239707; finalDepth = 739.508382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.227886 # Actual altitude: 50.227886 # Commanded vehicle depth:739.239707 # Seafloor depth:-789.452652 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.91; 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 = 200.91; 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 1 # Segment length 100.330596 meters # Minimum depth: 789.005993 meters looking forward 100.000000 meters along route # Maximum depth: 789.190371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.005993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191796; longitude = -117.773665; captureRadius = 10; duration = 100; initialDepth = 739.005993; finalDepth = 739.239707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.212945 # Actual altitude: 50.212945 # Commanded vehicle depth:739.005993 # Seafloor depth:-789.190371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.85; 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 = 200.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.330490 meters # Minimum depth: 788.848293 meters looking forward 100.000000 meters along route # Maximum depth: 788.967318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.848293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191874; longitude = -117.772593; captureRadius = 10; duration = 100; initialDepth = 738.848293; finalDepth = 739.005993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.184378 # Actual altitude: 50.184378 # Commanded vehicle depth:738.848293 # Seafloor depth:-788.967318 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.74; 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 = 200.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.330384 meters # Minimum depth: 788.814019 meters looking forward 100.000000 meters along route # Maximum depth: 788.831578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.814019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.191952; longitude = -117.771520; captureRadius = 10; duration = 100; initialDepth = 738.814019; finalDepth = 738.848293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.119025 # Actual altitude: 50.119025 # Commanded vehicle depth:738.814019 # Seafloor depth:-788.831578 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.05; MB_Bottom_Detect_Filter_Max_Range = 200.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.330277 meters # Minimum depth: 788.836686 meters looking forward 100.000000 meters along route # Maximum depth: 788.976519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.836686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192030; longitude = -117.770448; captureRadius = 10; duration = 100; initialDepth = 738.836686; finalDepth = 738.814019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.017559 # Actual altitude: 50.017559 # Commanded vehicle depth:738.836686 # Seafloor depth:-788.836686 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.330172 meters # Minimum depth: 789.025551 meters looking forward 100.000000 meters along route # Maximum depth: 789.186303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.025551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192109; longitude = -117.769376; captureRadius = 10; duration = 100; initialDepth = 739.025551; finalDepth = 738.836686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:739.025551 # Seafloor depth:-789.025551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.330065 meters # Minimum depth: 789.203892 meters looking forward 100.000000 meters along route # Maximum depth: 789.684623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.203892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192187; longitude = -117.768304; captureRadius = 10; duration = 100; initialDepth = 739.203892; finalDepth = 739.025551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:739.203892 # Seafloor depth:-789.203892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.329960 meters # Minimum depth: 789.207189 meters looking forward 100.000000 meters along route # Maximum depth: 790.092635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.207189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192265; longitude = -117.767231; captureRadius = 10; duration = 100; initialDepth = 739.207189; finalDepth = 739.203892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.885446 # Actual altitude: 50.885446 # Commanded vehicle depth:739.207189 # Seafloor depth:-790.092635 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.329853 meters # Minimum depth: 787.897629 meters looking forward 100.000000 meters along route # Maximum depth: 790.149025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.897629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192343; longitude = -117.766159; captureRadius = 10; duration = 100; initialDepth = 737.897629; finalDepth = 739.207189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.251396 # Actual altitude: 52.251396 # Commanded vehicle depth:737.897629 # Seafloor depth:-790.149025 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.01; 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 = 209.01; 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 1 # Segment length 100.329747 meters # Minimum depth: 787.699809 meters looking forward 100.000000 meters along route # Maximum depth: 787.927660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.699809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192421; longitude = -117.765087; captureRadius = 10; duration = 100; initialDepth = 737.699809; finalDepth = 737.897629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.251396 # Actual altitude: 52.251396 # Commanded vehicle depth:737.699809 # Seafloor depth:-787.854107 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.01; 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 = 209.01; 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 1 # Segment length 100.329642 meters # Minimum depth: 787.880495 meters looking forward 100.000000 meters along route # Maximum depth: 788.031227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.880495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192499; longitude = -117.764015; captureRadius = 10; duration = 100; initialDepth = 737.880495; finalDepth = 737.699809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.154298 # Actual altitude: 50.154298 # Commanded vehicle depth:737.880495 # Seafloor depth:-787.968458 # 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 1 # Segment length 100.329535 meters # Minimum depth: 786.963205 meters looking forward 100.000000 meters along route # Maximum depth: 787.570334 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.963205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192577; longitude = -117.762942; captureRadius = 10; duration = 100; initialDepth = 736.963205; finalDepth = 737.880495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.565692 # Actual altitude: 50.565692 # Commanded vehicle depth:736.963205 # Seafloor depth:-787.528897 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.26; 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 = 202.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.329430 meters # Minimum depth: 787.752990 meters looking forward 100.000000 meters along route # Maximum depth: 788.248840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.752990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192655; longitude = -117.761870; captureRadius = 10; duration = 100; initialDepth = 737.752990; finalDepth = 736.963205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.565692 # Actual altitude: 50.565692 # Commanded vehicle depth:737.75299 # Seafloor depth:-787.752990 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.26; 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 = 202.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.329323 meters # Minimum depth: 788.352468 meters looking forward 100.000000 meters along route # Maximum depth: 788.752513 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.352468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192733; longitude = -117.760798; captureRadius = 10; duration = 100; initialDepth = 738.352468; finalDepth = 737.752990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:738.352468 # Seafloor depth:-788.352468 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.329218 meters # Minimum depth: 788.852268 meters looking forward 100.000000 meters along route # Maximum depth: 789.264572 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.852268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192811; longitude = -117.759725; captureRadius = 10; duration = 100; initialDepth = 738.852268; finalDepth = 738.352468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:738.852268 # Seafloor depth:-788.852268 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.329112 meters # Minimum depth: 789.374185 meters looking forward 100.000000 meters along route # Maximum depth: 789.830702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.374185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192889; longitude = -117.758653; captureRadius = 10; duration = 100; initialDepth = 739.374185; finalDepth = 738.852268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:739.374185 # Seafloor depth:-789.374185 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.329005 meters # Minimum depth: 789.951869 meters looking forward 100.000000 meters along route # Maximum depth: 790.466356 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.951869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.192967; longitude = -117.757581; captureRadius = 10; duration = 100; initialDepth = 739.951869; finalDepth = 739.374185; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:739.951869 # Seafloor depth:-789.951869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.328901 meters # Minimum depth: 790.602525 meters looking forward 100.000000 meters along route # Maximum depth: 791.175726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.602525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.193046; longitude = -117.756509; captureRadius = 10; duration = 100; initialDepth = 740.602525; finalDepth = 739.951869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:740.602525 # Seafloor depth:-790.602525 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.328794 meters # Minimum depth: 791.327156 meters looking forward 100.000000 meters along route # Maximum depth: 791.960932 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.327156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.193124; longitude = -117.755436; captureRadius = 10; duration = 100; initialDepth = 741.327156; finalDepth = 740.602525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:741.327156 # Seafloor depth:-791.327156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.807543 meters # Minimum depth: 792.126363 meters looking forward 100.000000 meters along route # Maximum depth: 792.993143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 775.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.126363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.193202; longitude = -117.754364; captureRadius = 10; duration = 101; initialDepth = 742.126363; finalDepth = 741.327156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:742.126363 # Seafloor depth:-792.126363 # 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; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 50.848565 # Actual altitude: 50.848565 # Commanded vehicle depth:742.295051 # Seafloor depth:-793.143616 # 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 = 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; 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: 792.295051 meters looking forward 100.000000 meters along route # Maximum depth: 793.143616 meters looking forward 100.000000 meters along route # Vehicle depth: 742.295051 meters behavior waypoint { latitude = 33.193281; longitude = -117.753276; captureRadius = 10; duration = 500; depth = 742.295051; 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 742.295051 meters set by local depth and desired altitude behavior descend { duration = 2279; 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: 792.295051 meters looking forward 100.000000 meters along route # Maximum depth: 793.143616 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 33.193281; longitude = -117.753276; captureRadius = 10; duration = 500; depth = 50.000000; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 10.0; 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 = 10.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 15; 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; } # ####################################################### #######################################################