# 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: BOB01Survey.rte # Mission File: BOB01Survey.cfg # Distance: 23633.168404 (m) # Estimated Time: 25612 (s) 7.115 (hr) # Abort Time: 17371 (s) # Max battery life: 30600 (s) # Safety margin: 3600 (s) # Ascend time: 9628 (s) # Way Points: 28 # Route Points: 367 # Mapping sonar control enabled: # # Mission Parameters: # Desired Vehicle Altitude: 40 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 20 (m) # Maximum Vehicle Depth: 3000 (m) # Abort Vehicle Depth: 3050 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 50 (m) # GPS Duration: 600 (s) # Descend Rate: 0.23 (m/s) # Ascend Rate: 0.36 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -120.996367 33.782721 -2887.880493 0.000000 3 # 1 -120.996080 33.795529 -2890.172913 1420.871428 4 # 2 -120.994461 33.795503 -2881.142517 1570.871428 3 # 3 -120.994747 33.782696 -2888.565796 2991.742856 4 # 4 -120.993128 33.782671 -2886.930420 3141.742856 3 # 5 -120.992841 33.795478 -2881.243042 4562.614284 4 # 6 -120.991222 33.795453 -2874.636475 4712.614284 3 # 7 -120.991509 33.782645 -2890.168762 6133.485712 4 # 8 -120.989890 33.782620 -2888.532288 6283.485712 3 # 9 -120.989602 33.795427 -2874.091980 7704.357140 4 # 10 -120.987983 33.795402 -2873.699463 7854.357140 3 # 11 -120.988271 33.782595 -2885.023193 9275.228568 4 # 12 -120.986651 33.782569 -2887.612305 9425.228568 3 # 13 -120.986363 33.795377 -2874.662537 10846.099996 4 # 14 -120.984744 33.795351 -2877.435120 10996.099996 3 # 15 -120.985032 33.782544 -2886.363647 12416.971424 4 # 16 -120.983413 33.782518 -2890.250977 12566.971424 3 # 17 -120.983124 33.795326 -2882.187012 13987.842852 4 # 18 -120.981505 33.795300 -2883.845886 14137.842852 3 # 19 -120.981794 33.782493 -2889.429749 15558.714280 4 # 20 -120.979735 33.785023 -2891.232117 15897.983018 3 # 21 -120.998310 33.785314 -2893.471558 17618.648650 4 # 22 -120.998253 33.787875 -2895.990723 17902.822936 3 # 23 -120.979678 33.787584 -2888.803223 19623.488568 4 # 24 -120.979620 33.790146 -2893.725037 19907.662854 3 # 25 -120.998195 33.790437 -2899.133484 21628.328486 4 # 26 -120.998138 33.792998 -2900.297485 21912.502772 3 # 27 -120.979562 33.792707 -2888.569885 23633.168404 4 # # A total of 367 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 23140; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 3000.000000; abortDepth = 3050.000000; minAltitude = 50.000000; abortAltitude = 20.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 9628; horizontalMode = rudder; horizontal = 3.000000; pitch = 30.000000; 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 27 # Segment length 48.567290 meters # Minimum depth: 2888.471660 meters looking forward 100.000000 meters along route # Maximum depth: 2888.619229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.471660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792707; longitude = -120.979562; captureRadius = 10; duration = 48; initialDepth = 2848.471660; finalDepth = 2848.471660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.0982249999997 # Actual altitude: 50 # Commanded vehicle depth:2848.47166 # Seafloor depth:-2888.569885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.982667 meters # Minimum depth: 2887.602765 meters looking forward 100.000000 meters along route # Maximum depth: 2888.619229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.602765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792716; longitude = -120.980086; captureRadius = 10; duration = 59; initialDepth = 2847.602765; finalDepth = 2848.471660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.6884049999999 # Actual altitude: 50 # Commanded vehicle depth:2847.602765 # Seafloor depth:-2888.291170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.982644 meters # Minimum depth: 2887.181056 meters looking forward 100.000000 meters along route # Maximum depth: 2888.004746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.181056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792726; longitude = -120.980734; captureRadius = 10; duration = 59; initialDepth = 2847.181056; finalDepth = 2847.602765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.6884049999999 # Actual altitude: 50 # Commanded vehicle depth:2847.181056 # Seafloor depth:-2887.311124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.982619 meters # Minimum depth: 2886.061943 meters looking forward 100.000000 meters along route # Maximum depth: 2887.201650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.061943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792736; longitude = -120.981381; captureRadius = 10; duration = 59; initialDepth = 2846.061943; finalDepth = 2847.181056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.9748879999997 # Actual altitude: 50 # Commanded vehicle depth:2846.061943 # Seafloor depth:-2887.036831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.982596 meters # Minimum depth: 2883.483563 meters looking forward 100.000000 meters along route # Maximum depth: 2886.572112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.483563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792746; longitude = -120.982029; captureRadius = 10; duration = 59; initialDepth = 2843.483563; finalDepth = 2846.061943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.0268140000003 # Actual altitude: 50 # Commanded vehicle depth:2843.483563 # Seafloor depth:-2885.510377 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.982573 meters # Minimum depth: 2874.471672 meters looking forward 100.000000 meters along route # Maximum depth: 2884.890278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.471672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792756; longitude = -120.982677; captureRadius = 10; duration = 59; initialDepth = 2834.471672; finalDepth = 2843.483563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.947498 # Actual altitude: 50 # Commanded vehicle depth:2834.471672 # Seafloor depth:-2880.419170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.982549 meters # Minimum depth: 2873.955728 meters looking forward 100.000000 meters along route # Maximum depth: 2878.460123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2833.955728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792766; longitude = -120.983324; captureRadius = 10; duration = 59; initialDepth = 2833.955728; finalDepth = 2834.471672; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.947498 # Actual altitude: 50 # Commanded vehicle depth:2833.955728 # Seafloor depth:-2873.955728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.982525 meters # Minimum depth: 2875.867806 meters looking forward 100.000000 meters along route # Maximum depth: 2881.147719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.867806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792776; longitude = -120.983972; captureRadius = 10; duration = 59; initialDepth = 2835.867806; finalDepth = 2833.955728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.3783869999997 # Actual altitude: 50 # Commanded vehicle depth:2835.867806 # Seafloor depth:-2880.246193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.982501 meters # Minimum depth: 2879.328342 meters looking forward 100.000000 meters along route # Maximum depth: 2881.147719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.328342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792787; longitude = -120.984619; captureRadius = 10; duration = 59; initialDepth = 2839.328342; finalDepth = 2835.867806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.3783869999997 # Actual altitude: 50 # Commanded vehicle depth:2839.328342 # Seafloor depth:-2880.205025 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.982478 meters # Minimum depth: 2878.225099 meters looking forward 100.000000 meters along route # Maximum depth: 2879.693458 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.225099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792797; longitude = -120.985267; captureRadius = 10; duration = 59; initialDepth = 2838.225099; finalDepth = 2839.328342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.8766830000004 # Actual altitude: 50 # Commanded vehicle depth:2838.225099 # Seafloor depth:-2879.057366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.982455 meters # Minimum depth: 2876.470745 meters looking forward 100.000000 meters along route # Maximum depth: 2878.710451 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.470745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792807; longitude = -120.985914; captureRadius = 10; duration = 59; initialDepth = 2836.470745; finalDepth = 2838.225099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.2340549999999 # Actual altitude: 50 # Commanded vehicle depth:2836.470745 # Seafloor depth:-2877.704800 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.982430 meters # Minimum depth: 2874.650490 meters looking forward 100.000000 meters along route # Maximum depth: 2877.093475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.650490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792817; longitude = -120.986562; captureRadius = 10; duration = 59; initialDepth = 2834.650490; finalDepth = 2836.470745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.2340549999999 # Actual altitude: 50 # Commanded vehicle depth:2834.65049 # Seafloor depth:-2875.695059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.982407 meters # Minimum depth: 2874.650490 meters looking forward 100.000000 meters along route # Maximum depth: 2875.103056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.650490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792827; longitude = -120.987210; captureRadius = 10; duration = 59; initialDepth = 2834.650490; finalDepth = 2834.650490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.0445690000001 # Actual altitude: 50 # Commanded vehicle depth:2834.65049 # Seafloor depth:-2874.661514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.982384 meters # Minimum depth: 2874.841768 meters looking forward 100.000000 meters along route # Maximum depth: 2875.356329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.841768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792837; longitude = -120.987857; captureRadius = 10; duration = 59; initialDepth = 2834.841768; finalDepth = 2834.650490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.438251 # Actual altitude: 50 # Commanded vehicle depth:2834.841768 # Seafloor depth:-2875.280019 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.982360 meters # Minimum depth: 2874.432462 meters looking forward 100.000000 meters along route # Maximum depth: 2875.356329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.432462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792848; longitude = -120.988505; captureRadius = 10; duration = 59; initialDepth = 2834.432462; finalDepth = 2834.841768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.5534029999999 # Actual altitude: 50 # Commanded vehicle depth:2834.432462 # Seafloor depth:-2874.985865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.982336 meters # Minimum depth: 2873.336962 meters looking forward 100.000000 meters along route # Maximum depth: 2874.713388 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2833.336962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792858; longitude = -120.989152; captureRadius = 10; duration = 59; initialDepth = 2833.336962; finalDepth = 2834.432462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.8037039999999 # Actual altitude: 50 # Commanded vehicle depth:2833.336962 # Seafloor depth:-2874.140666 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.982313 meters # Minimum depth: 2873.014901 meters looking forward 100.000000 meters along route # Maximum depth: 2873.814918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2833.014901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792868; longitude = -120.989800; captureRadius = 10; duration = 59; initialDepth = 2833.014901; finalDepth = 2833.336962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.8037039999999 # Actual altitude: 50 # Commanded vehicle depth:2833.014901 # Seafloor depth:-2873.014901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.982289 meters # Minimum depth: 2873.074161 meters looking forward 100.000000 meters along route # Maximum depth: 2874.597190 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2833.074161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792878; longitude = -120.990447; captureRadius = 10; duration = 59; initialDepth = 2833.074161; finalDepth = 2833.014901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.739176 # Actual altitude: 50 # Commanded vehicle depth:2833.074161 # Seafloor depth:-2873.813337 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.982266 meters # Minimum depth: 2874.218826 meters looking forward 100.000000 meters along route # Maximum depth: 2876.988412 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.218826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792888; longitude = -120.991095; captureRadius = 10; duration = 59; initialDepth = 2834.218826; finalDepth = 2833.074161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.739176 # Actual altitude: 50 # Commanded vehicle depth:2834.218826 # Seafloor depth:-2874.902279 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.982242 meters # Minimum depth: 2875.527609 meters looking forward 100.000000 meters along route # Maximum depth: 2879.977135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.527609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792898; longitude = -120.991742; captureRadius = 10; duration = 59; initialDepth = 2835.527609; finalDepth = 2834.218826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.1832099999997 # Actual altitude: 50 # Commanded vehicle depth:2835.527609 # Seafloor depth:-2877.710819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.982218 meters # Minimum depth: 2879.146125 meters looking forward 100.000000 meters along route # Maximum depth: 2880.349921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.146125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792908; longitude = -120.992390; captureRadius = 10; duration = 59; initialDepth = 2839.146125; finalDepth = 2835.527609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.1832099999997 # Actual altitude: 50 # Commanded vehicle depth:2839.146125 # Seafloor depth:-2880.349921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.982195 meters # Minimum depth: 2879.791943 meters looking forward 100.000000 meters along route # Maximum depth: 2880.496164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.791943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792919; longitude = -120.993038; captureRadius = 10; duration = 59; initialDepth = 2839.791943; finalDepth = 2839.146125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.2037959999998 # Actual altitude: 50 # Commanded vehicle depth:2839.791943 # Seafloor depth:-2879.791943 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.982171 meters # Minimum depth: 2880.001152 meters looking forward 100.000000 meters along route # Maximum depth: 2882.629406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.001152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792929; longitude = -120.993685; captureRadius = 10; duration = 59; initialDepth = 2840.001152; finalDepth = 2839.791943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.1994530000002 # Actual altitude: 50 # Commanded vehicle depth:2840.001152 # Seafloor depth:-2881.200605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.982148 meters # Minimum depth: 2881.856871 meters looking forward 100.000000 meters along route # Maximum depth: 2885.613053 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.856871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792939; longitude = -120.994333; captureRadius = 10; duration = 59; initialDepth = 2841.856871; finalDepth = 2840.001152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.5339629999999 # Actual altitude: 50 # Commanded vehicle depth:2841.856871 # Seafloor depth:-2883.390834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.982124 meters # Minimum depth: 2884.344388 meters looking forward 100.000000 meters along route # Maximum depth: 2888.183898 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.344388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792949; longitude = -120.994980; captureRadius = 10; duration = 59; initialDepth = 2844.344388; finalDepth = 2841.856871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.3892310000001 # Actual altitude: 50 # Commanded vehicle depth:2844.344388 # Seafloor depth:-2886.733619 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.982101 meters # Minimum depth: 2887.762914 meters looking forward 100.000000 meters along route # Maximum depth: 2888.857326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.762914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792959; longitude = -120.995628; captureRadius = 10; duration = 59; initialDepth = 2847.762914; finalDepth = 2844.344388; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.3892310000001 # Actual altitude: 50 # Commanded vehicle depth:2847.762914 # Seafloor depth:-2888.517071 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.982077 meters # Minimum depth: 2888.615929 meters looking forward 100.000000 meters along route # Maximum depth: 2891.718260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.615929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792969; longitude = -120.996275; captureRadius = 10; duration = 59; initialDepth = 2848.615929; finalDepth = 2847.762914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.7541570000003 # Actual altitude: 50 # Commanded vehicle depth:2848.615929 # Seafloor depth:-2889.290902 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.982054 meters # Minimum depth: 2890.272276 meters looking forward 100.000000 meters along route # Maximum depth: 2895.601921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2850.272276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792979; longitude = -120.996923; captureRadius = 10; duration = 59; initialDepth = 2850.272276; finalDepth = 2848.615929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.997723 # Actual altitude: 50 # Commanded vehicle depth:2850.272276 # Seafloor depth:-2893.269999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 52.574620 meters # Minimum depth: 2894.922055 meters looking forward 100.000000 meters along route # Maximum depth: 2899.448438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2854.922055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792990; longitude = -120.997571; captureRadius = 10; duration = 52; initialDepth = 2854.922055; finalDepth = 2850.272276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.997723 # Actual altitude: 50 # Commanded vehicle depth:2854.922055 # Seafloor depth:-2896.673199 # 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 11.316932 meters # Minimum depth: 2895.601921 meters looking forward 100.000000 meters along route # Maximum depth: 2900.297485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2855.601921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792998; longitude = -120.998138; captureRadius = 10; duration = 11; initialDepth = 2855.601921; finalDepth = 2854.922055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.6955640000001 # Actual altitude: 50 # Commanded vehicle depth:2855.601921 # Seafloor depth:-2900.297485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841453 meters # Minimum depth: 2899.448438 meters looking forward 100.000000 meters along route # Maximum depth: 2901.356075 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2859.448438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792896; longitude = -120.998140; captureRadius = 10; duration = 71; initialDepth = 2859.448438; finalDepth = 2855.601921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.6955640000001 # Actual altitude: 50 # Commanded vehicle depth:2859.448438 # Seafloor depth:-2900.430174 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841446 meters # Minimum depth: 2901.356075 meters looking forward 100.000000 meters along route # Maximum depth: 2910.064436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2861.356075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792249; longitude = -120.998155; captureRadius = 10; duration = 71; initialDepth = 2861.356075; finalDepth = 2859.448438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.3446799999997 # Actual altitude: 50 # Commanded vehicle depth:2861.356075 # Seafloor depth:-2903.700755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841438 meters # Minimum depth: 2903.506162 meters looking forward 100.000000 meters along route # Maximum depth: 2910.064436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2863.506162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791601; longitude = -120.998169; captureRadius = 10; duration = 71; initialDepth = 2863.506162; finalDepth = 2861.356075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.3932999999997 # Actual altitude: 50 # Commanded vehicle depth:2863.506162 # Seafloor depth:-2909.899462 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 57.333017 meters # Minimum depth: 2898.963336 meters looking forward 100.000000 meters along route # Maximum depth: 2903.506162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2858.963336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790954; longitude = -120.998184; captureRadius = 10; duration = 57; initialDepth = 2858.963336; finalDepth = 2863.506162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.3932999999997 # Actual altitude: 50 # Commanded vehicle depth:2858.963336 # Seafloor depth:-2900.300364 # 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 37.888567 meters # Minimum depth: 2898.535542 meters looking forward 100.000000 meters along route # Maximum depth: 2900.300364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2858.535542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790437; longitude = -120.998195; captureRadius = 10; duration = 37; initialDepth = 2858.535542; finalDepth = 2858.963336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.3370280000004 # Actual altitude: 50 # Commanded vehicle depth:2858.535542 # Seafloor depth:-2899.133484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.983832 meters # Minimum depth: 2895.975308 meters looking forward 100.000000 meters along route # Maximum depth: 2899.133484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2855.975308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790431; longitude = -120.997786; captureRadius = 10; duration = 59; initialDepth = 2855.975308; finalDepth = 2858.535542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.7807549999998 # Actual altitude: 50 # Commanded vehicle depth:2855.975308 # Seafloor depth:-2897.756063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.983856 meters # Minimum depth: 2890.971989 meters looking forward 100.000000 meters along route # Maximum depth: 2897.121609 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2850.971989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790420; longitude = -120.997139; captureRadius = 10; duration = 59; initialDepth = 2850.971989; finalDepth = 2855.975308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.503514 # Actual altitude: 50 # Commanded vehicle depth:2850.971989 # Seafloor depth:-2894.475503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.983879 meters # Minimum depth: 2888.363895 meters looking forward 100.000000 meters along route # Maximum depth: 2892.605388 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.363895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790410; longitude = -120.996491; captureRadius = 10; duration = 59; initialDepth = 2848.363895; finalDepth = 2850.971989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.503514 # Actual altitude: 50 # Commanded vehicle depth:2848.363895 # Seafloor depth:-2889.819258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.983903 meters # Minimum depth: 2886.219233 meters looking forward 100.000000 meters along route # Maximum depth: 2888.893962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.219233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790400; longitude = -120.995844; captureRadius = 10; duration = 59; initialDepth = 2846.219233; finalDepth = 2848.363895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.5739830000002 # Actual altitude: 50 # Commanded vehicle depth:2846.219233 # Seafloor depth:-2887.793216 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.983927 meters # Minimum depth: 2883.607156 meters looking forward 100.000000 meters along route # Maximum depth: 2887.243166 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.607156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790390; longitude = -120.995196; captureRadius = 10; duration = 59; initialDepth = 2843.607156; finalDepth = 2846.219233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.7334390000001 # Actual altitude: 50 # Commanded vehicle depth:2843.607156 # Seafloor depth:-2885.340595 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.983949 meters # Minimum depth: 2881.512967 meters looking forward 100.000000 meters along route # Maximum depth: 2884.360530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.512967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790380; longitude = -120.994549; captureRadius = 10; duration = 59; initialDepth = 2841.512967; finalDepth = 2843.607156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.7334390000001 # Actual altitude: 50 # Commanded vehicle depth:2841.512967 # Seafloor depth:-2882.717777 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.983974 meters # Minimum depth: 2880.454259 meters looking forward 100.000000 meters along route # Maximum depth: 2882.053133 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.454259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790370; longitude = -120.993901; captureRadius = 10; duration = 59; initialDepth = 2840.454259; finalDepth = 2841.512967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.2048099999997 # Actual altitude: 50 # Commanded vehicle depth:2840.454259 # Seafloor depth:-2881.148668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.983997 meters # Minimum depth: 2876.762522 meters looking forward 100.000000 meters along route # Maximum depth: 2880.994563 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.762522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790360; longitude = -120.993253; captureRadius = 10; duration = 59; initialDepth = 2836.762522; finalDepth = 2840.454259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.9242549999999 # Actual altitude: 50 # Commanded vehicle depth:2836.762522 # Seafloor depth:-2879.686777 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.984020 meters # Minimum depth: 2875.983944 meters looking forward 100.000000 meters along route # Maximum depth: 2878.180179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.983944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790349; longitude = -120.992606; captureRadius = 10; duration = 59; initialDepth = 2835.983944; finalDepth = 2836.762522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.9242549999999 # Actual altitude: 50 # Commanded vehicle depth:2835.983944 # Seafloor depth:-2876.116988 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.984045 meters # Minimum depth: 2875.983944 meters looking forward 100.000000 meters along route # Maximum depth: 2877.524164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.983944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790339; longitude = -120.991958; captureRadius = 10; duration = 59; initialDepth = 2835.983944; finalDepth = 2835.983944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.1482040000001 # Actual altitude: 50 # Commanded vehicle depth:2835.983944 # Seafloor depth:-2877.132148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.984067 meters # Minimum depth: 2877.371175 meters looking forward 100.000000 meters along route # Maximum depth: 2878.204544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.371175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790329; longitude = -120.991311; captureRadius = 10; duration = 59; initialDepth = 2837.371175; finalDepth = 2835.983944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.1482040000001 # Actual altitude: 50 # Commanded vehicle depth:2837.371175 # Seafloor depth:-2877.713145 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.984092 meters # Minimum depth: 2877.238956 meters looking forward 100.000000 meters along route # Maximum depth: 2878.204544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.238956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790319; longitude = -120.990663; captureRadius = 10; duration = 59; initialDepth = 2837.238956; finalDepth = 2837.371175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.6340409999998 # Actual altitude: 50 # Commanded vehicle depth:2837.238956 # Seafloor depth:-2877.872997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.984114 meters # Minimum depth: 2877.238956 meters looking forward 100.000000 meters along route # Maximum depth: 2880.894631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.238956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790309; longitude = -120.990016; captureRadius = 10; duration = 59; initialDepth = 2837.238956; finalDepth = 2837.238956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.4846849999999 # Actual altitude: 50 # Commanded vehicle depth:2837.238956 # Seafloor depth:-2878.723641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.984139 meters # Minimum depth: 2878.314319 meters looking forward 100.000000 meters along route # Maximum depth: 2880.894631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.314319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790299; longitude = -120.989368; captureRadius = 10; duration = 59; initialDepth = 2838.314319; finalDepth = 2837.238956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.457594 # Actual altitude: 50 # Commanded vehicle depth:2838.314319 # Seafloor depth:-2880.771913 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.984162 meters # Minimum depth: 2877.298935 meters looking forward 100.000000 meters along route # Maximum depth: 2879.706213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.298935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790288; longitude = -120.988721; captureRadius = 10; duration = 59; initialDepth = 2837.298935; finalDepth = 2838.314319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.457594 # Actual altitude: 50 # Commanded vehicle depth:2837.298935 # Seafloor depth:-2877.523440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.984185 meters # Minimum depth: 2876.497970 meters looking forward 100.000000 meters along route # Maximum depth: 2877.445648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.497970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790278; longitude = -120.988073; captureRadius = 10; duration = 59; initialDepth = 2836.497970; finalDepth = 2837.298935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.7718720000003 # Actual altitude: 50 # Commanded vehicle depth:2836.49797 # Seafloor depth:-2877.269842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.984210 meters # Minimum depth: 2876.428194 meters looking forward 100.000000 meters along route # Maximum depth: 2876.934138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.428194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790268; longitude = -120.987425; captureRadius = 10; duration = 59; initialDepth = 2836.428194; finalDepth = 2836.497970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.7718720000003 # Actual altitude: 50 # Commanded vehicle depth:2836.428194 # Seafloor depth:-2876.428194 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.984233 meters # Minimum depth: 2876.584708 meters looking forward 100.000000 meters along route # Maximum depth: 2877.858018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.584708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790258; longitude = -120.986778; captureRadius = 10; duration = 59; initialDepth = 2836.584708; finalDepth = 2836.428194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.7166030000003 # Actual altitude: 50 # Commanded vehicle depth:2836.584708 # Seafloor depth:-2877.301311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.984256 meters # Minimum depth: 2877.539134 meters looking forward 100.000000 meters along route # Maximum depth: 2878.827867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.539134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790248; longitude = -120.986130; captureRadius = 10; duration = 59; initialDepth = 2837.539134; finalDepth = 2836.584708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.7166030000003 # Actual altitude: 50 # Commanded vehicle depth:2837.539134 # Seafloor depth:-2878.173926 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.984280 meters # Minimum depth: 2878.546605 meters looking forward 100.000000 meters along route # Maximum depth: 2878.896775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.546605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790238; longitude = -120.985483; captureRadius = 10; duration = 59; initialDepth = 2838.546605; finalDepth = 2837.539134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.6347919999998 # Actual altitude: 50 # Commanded vehicle depth:2838.546605 # Seafloor depth:-2878.896775 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.984304 meters # Minimum depth: 2878.579277 meters looking forward 100.000000 meters along route # Maximum depth: 2878.876481 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.579277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790228; longitude = -120.984835; captureRadius = 10; duration = 59; initialDepth = 2838.579277; finalDepth = 2838.546605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.3501700000002 # Actual altitude: 50 # Commanded vehicle depth:2838.579277 # Seafloor depth:-2878.579277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.984327 meters # Minimum depth: 2878.676695 meters looking forward 100.000000 meters along route # Maximum depth: 2880.060690 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.676695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790217; longitude = -120.984188; captureRadius = 10; duration = 59; initialDepth = 2838.676695; finalDepth = 2838.579277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.5483589999999 # Actual altitude: 50 # Commanded vehicle depth:2838.676695 # Seafloor depth:-2879.225054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.984351 meters # Minimum depth: 2879.653543 meters looking forward 100.000000 meters along route # Maximum depth: 2881.784234 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.653543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790207; longitude = -120.983540; captureRadius = 10; duration = 59; initialDepth = 2839.653543; finalDepth = 2838.676695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.8711160000003 # Actual altitude: 50 # Commanded vehicle depth:2839.653543 # Seafloor depth:-2880.524659 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.984375 meters # Minimum depth: 2880.998585 meters looking forward 100.000000 meters along route # Maximum depth: 2882.872694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.998585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790197; longitude = -120.982892; captureRadius = 10; duration = 59; initialDepth = 2840.998585; finalDepth = 2839.653543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.499566 # Actual altitude: 50 # Commanded vehicle depth:2840.998585 # Seafloor depth:-2882.498151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.984398 meters # Minimum depth: 2882.829674 meters looking forward 100.000000 meters along route # Maximum depth: 2883.651643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.829674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790187; longitude = -120.982245; captureRadius = 10; duration = 59; initialDepth = 2842.829674; finalDepth = 2840.998585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.499566 # Actual altitude: 50 # Commanded vehicle depth:2842.829674 # Seafloor depth:-2882.941156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.984422 meters # Minimum depth: 2883.148393 meters looking forward 100.000000 meters along route # Maximum depth: 2886.798447 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.148393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790177; longitude = -120.981597; captureRadius = 10; duration = 59; initialDepth = 2843.148393; finalDepth = 2842.829674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.2356970000001 # Actual altitude: 50 # Commanded vehicle depth:2843.148393 # Seafloor depth:-2884.384090 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.984445 meters # Minimum depth: 2885.316020 meters looking forward 100.000000 meters along route # Maximum depth: 2888.442694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.316020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790167; longitude = -120.980950; captureRadius = 10; duration = 59; initialDepth = 2845.316020; finalDepth = 2843.148393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.7262509999996 # Actual altitude: 50 # Commanded vehicle depth:2845.31602 # Seafloor depth:-2888.042271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 63.205323 meters # Minimum depth: 2887.810359 meters looking forward 100.000000 meters along route # Maximum depth: 2893.234386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.810359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790157; longitude = -120.980302; captureRadius = 10; duration = 63; initialDepth = 2847.810359; finalDepth = 2845.316020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.7262509999996 # Actual altitude: 50 # Commanded vehicle depth:2847.810359 # Seafloor depth:-2888.137348 # 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 30.116517 meters # Minimum depth: 2888.137348 meters looking forward 100.000000 meters along route # Maximum depth: 2893.725037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.137348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790146; longitude = -120.979620; captureRadius = 10; duration = 30; initialDepth = 2848.137348; finalDepth = 2847.810359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.587689 # Actual altitude: 50 # Commanded vehicle depth:2848.137348 # Seafloor depth:-2893.725037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 71.842226 meters # Minimum depth: 2892.728761 meters looking forward 100.000000 meters along route # Maximum depth: 2893.320920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2852.728761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789874; longitude = -120.979626; captureRadius = 10; duration = 71; initialDepth = 2852.728761; finalDepth = 2848.137348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.587689 # Actual altitude: 50 # Commanded vehicle depth:2852.728761 # Seafloor depth:-2892.989762 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 68.881494 meters # Minimum depth: 2889.754108 meters looking forward 100.000000 meters along route # Maximum depth: 2892.728761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2849.754108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789227; longitude = -120.979641; captureRadius = 10; duration = 68; initialDepth = 2849.754108; finalDepth = 2852.728761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.2058929999998 # Actual altitude: 50 # Commanded vehicle depth:2849.754108 # Seafloor depth:-2891.960001 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 50.855534 meters # Minimum depth: 2889.314508 meters looking forward 100.000000 meters along route # Maximum depth: 2890.720267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2849.314508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788606; longitude = -120.979655; captureRadius = 10; duration = 50; initialDepth = 2849.314508; finalDepth = 2849.754108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.2058929999998 # Actual altitude: 50 # Commanded vehicle depth:2849.314508 # Seafloor depth:-2889.373047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 62.478515 meters # Minimum depth: 2889.314508 meters looking forward 100.000000 meters along route # Maximum depth: 2889.762115 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2849.314508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788148; longitude = -120.979665; captureRadius = 10; duration = 62; initialDepth = 2849.314508; finalDepth = 2849.314508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.408496 # Actual altitude: 50 # Commanded vehicle depth:2849.314508 # Seafloor depth:-2889.723004 # 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 23 # Segment length 37.854087 meters # Minimum depth: 2888.357866 meters looking forward 100.000000 meters along route # Maximum depth: 2889.762115 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.357866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787584; longitude = -120.979678; captureRadius = 10; duration = 37; initialDepth = 2848.357866; finalDepth = 2849.314508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.4453570000001 # Actual altitude: 50 # Commanded vehicle depth:2848.357866 # Seafloor depth:-2888.803223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.986239 meters # Minimum depth: 2887.703373 meters looking forward 100.000000 meters along route # Maximum depth: 2888.803223 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.703373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787591; longitude = -120.980086; captureRadius = 10; duration = 59; initialDepth = 2847.703373; finalDepth = 2848.357866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.4453570000001 # Actual altitude: 50 # Commanded vehicle depth:2847.703373 # Seafloor depth:-2888.137220 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.986217 meters # Minimum depth: 2886.769788 meters looking forward 100.000000 meters along route # Maximum depth: 2887.953046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.769788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787601; longitude = -120.980734; captureRadius = 10; duration = 59; initialDepth = 2846.769788; finalDepth = 2847.703373; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.7199999999998 # Actual altitude: 50 # Commanded vehicle depth:2846.769788 # Seafloor depth:-2887.489788 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.986192 meters # Minimum depth: 2883.216257 meters looking forward 100.000000 meters along route # Maximum depth: 2887.260449 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.216257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787611; longitude = -120.981381; captureRadius = 10; duration = 59; initialDepth = 2843.216257; finalDepth = 2846.769788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.5199269999998 # Actual altitude: 50 # Commanded vehicle depth:2843.216257 # Seafloor depth:-2885.736184 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.986169 meters # Minimum depth: 2881.980159 meters looking forward 100.000000 meters along route # Maximum depth: 2884.305832 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.980159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787621; longitude = -120.982029; captureRadius = 10; duration = 59; initialDepth = 2841.980159; finalDepth = 2843.216257; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.5199269999998 # Actual altitude: 50 # Commanded vehicle depth:2841.980159 # Seafloor depth:-2882.687433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.986145 meters # Minimum depth: 2880.791113 meters looking forward 100.000000 meters along route # Maximum depth: 2882.272166 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.791113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787631; longitude = -120.982677; captureRadius = 10; duration = 59; initialDepth = 2840.791113; finalDepth = 2841.980159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.8760929999999 # Actual altitude: 50 # Commanded vehicle depth:2840.791113 # Seafloor depth:-2881.667206 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.986121 meters # Minimum depth: 2878.585769 meters looking forward 100.000000 meters along route # Maximum depth: 2881.268526 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.585769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787642; longitude = -120.983324; captureRadius = 10; duration = 59; initialDepth = 2838.585769; finalDepth = 2840.791113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.5008320000002 # Actual altitude: 50 # Commanded vehicle depth:2838.585769 # Seafloor depth:-2880.086601 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.986098 meters # Minimum depth: 2877.865765 meters looking forward 100.000000 meters along route # Maximum depth: 2879.321595 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.865765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787652; longitude = -120.983972; captureRadius = 10; duration = 59; initialDepth = 2837.865765; finalDepth = 2838.585769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.5008320000002 # Actual altitude: 50 # Commanded vehicle depth:2837.865765 # Seafloor depth:-2878.292450 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.986074 meters # Minimum depth: 2877.716416 meters looking forward 100.000000 meters along route # Maximum depth: 2878.029636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.716416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787662; longitude = -120.984619; captureRadius = 10; duration = 59; initialDepth = 2837.716416; finalDepth = 2837.865765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.4266849999999 # Actual altitude: 50 # Commanded vehicle depth:2837.716416 # Seafloor depth:-2877.806226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.986051 meters # Minimum depth: 2874.802855 meters looking forward 100.000000 meters along route # Maximum depth: 2877.816151 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.802855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787672; longitude = -120.985267; captureRadius = 10; duration = 59; initialDepth = 2834.802855; finalDepth = 2837.716416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.3719500000002 # Actual altitude: 50 # Commanded vehicle depth:2834.802855 # Seafloor depth:-2877.174805 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.986027 meters # Minimum depth: 2874.380819 meters looking forward 100.000000 meters along route # Maximum depth: 2876.039476 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.380819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787682; longitude = -120.985914; captureRadius = 10; duration = 59; initialDepth = 2834.380819; finalDepth = 2834.802855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.3719500000002 # Actual altitude: 50 # Commanded vehicle depth:2834.380819 # Seafloor depth:-2874.380819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.986003 meters # Minimum depth: 2874.734069 meters looking forward 100.000000 meters along route # Maximum depth: 2879.635584 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.734069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787692; longitude = -120.986562; captureRadius = 10; duration = 59; initialDepth = 2834.734069; finalDepth = 2834.380819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.9205139999999 # Actual altitude: 50 # Commanded vehicle depth:2834.734069 # Seafloor depth:-2877.654583 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.985980 meters # Minimum depth: 2879.233676 meters looking forward 100.000000 meters along route # Maximum depth: 2880.885510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.233676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787702; longitude = -120.987210; captureRadius = 10; duration = 59; initialDepth = 2839.233676; finalDepth = 2834.734069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.9205139999999 # Actual altitude: 50 # Commanded vehicle depth:2839.233676 # Seafloor depth:-2880.091721 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.985956 meters # Minimum depth: 2879.701184 meters looking forward 100.000000 meters along route # Maximum depth: 2880.885510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.701184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787713; longitude = -120.987857; captureRadius = 10; duration = 59; initialDepth = 2839.701184; finalDepth = 2839.233676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.170654 # Actual altitude: 50 # Commanded vehicle depth:2839.701184 # Seafloor depth:-2880.871838 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.985933 meters # Minimum depth: 2877.913174 meters looking forward 100.000000 meters along route # Maximum depth: 2880.484711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.913174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787723; longitude = -120.988505; captureRadius = 10; duration = 59; initialDepth = 2837.913174; finalDepth = 2839.701184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.170654 # Actual altitude: 50 # Commanded vehicle depth:2837.913174 # Seafloor depth:-2878.694989 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.985909 meters # Minimum depth: 2877.655834 meters looking forward 100.000000 meters along route # Maximum depth: 2878.197684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.655834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787733; longitude = -120.989152; captureRadius = 10; duration = 59; initialDepth = 2837.655834; finalDepth = 2837.913174; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.7818150000003 # Actual altitude: 50 # Commanded vehicle depth:2837.655834 # Seafloor depth:-2877.851112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.985885 meters # Minimum depth: 2877.002454 meters looking forward 100.000000 meters along route # Maximum depth: 2877.767342 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.002454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787743; longitude = -120.989800; captureRadius = 10; duration = 59; initialDepth = 2837.002454; finalDepth = 2837.655834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.517589 # Actual altitude: 50 # Commanded vehicle depth:2837.002454 # Seafloor depth:-2877.520043 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.985862 meters # Minimum depth: 2876.794718 meters looking forward 100.000000 meters along route # Maximum depth: 2877.260555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.794718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787753; longitude = -120.990447; captureRadius = 10; duration = 59; initialDepth = 2836.794718; finalDepth = 2837.002454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.517589 # Actual altitude: 50 # Commanded vehicle depth:2836.794718 # Seafloor depth:-2876.794718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.985838 meters # Minimum depth: 2876.855052 meters looking forward 100.000000 meters along route # Maximum depth: 2878.489271 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.855052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787763; longitude = -120.991095; captureRadius = 10; duration = 59; initialDepth = 2836.855052; finalDepth = 2836.794718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.699721 # Actual altitude: 50 # Commanded vehicle depth:2836.855052 # Seafloor depth:-2877.554773 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.985815 meters # Minimum depth: 2878.056828 meters looking forward 100.000000 meters along route # Maximum depth: 2879.947028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.056828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787773; longitude = -120.991742; captureRadius = 10; duration = 59; initialDepth = 2838.056828; finalDepth = 2836.855052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.9272899999996 # Actual altitude: 50 # Commanded vehicle depth:2838.056828 # Seafloor depth:-2878.984118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.985791 meters # Minimum depth: 2879.371595 meters looking forward 100.000000 meters along route # Maximum depth: 2881.507330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.371595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787784; longitude = -120.992390; captureRadius = 10; duration = 59; initialDepth = 2839.371595; finalDepth = 2838.056828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.1171810000001 # Actual altitude: 50 # Commanded vehicle depth:2839.371595 # Seafloor depth:-2880.488776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.985767 meters # Minimum depth: 2881.024806 meters looking forward 100.000000 meters along route # Maximum depth: 2881.523758 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.024806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787794; longitude = -120.993038; captureRadius = 10; duration = 59; initialDepth = 2841.024806; finalDepth = 2839.371595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.1171810000001 # Actual altitude: 50 # Commanded vehicle depth:2841.024806 # Seafloor depth:-2881.523758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.985744 meters # Minimum depth: 2881.145398 meters looking forward 100.000000 meters along route # Maximum depth: 2882.004065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.145398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787804; longitude = -120.993685; captureRadius = 10; duration = 59; initialDepth = 2841.145398; finalDepth = 2841.024806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.4989519999999 # Actual altitude: 50 # Commanded vehicle depth:2841.145398 # Seafloor depth:-2881.145398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.985721 meters # Minimum depth: 2881.311034 meters looking forward 100.000000 meters along route # Maximum depth: 2885.583906 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.311034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787814; longitude = -120.994333; captureRadius = 10; duration = 59; initialDepth = 2841.311034; finalDepth = 2841.145398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.717807 # Actual altitude: 50 # Commanded vehicle depth:2841.311034 # Seafloor depth:-2883.028841 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.985697 meters # Minimum depth: 2884.261039 meters looking forward 100.000000 meters along route # Maximum depth: 2887.228586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.261039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787824; longitude = -120.994980; captureRadius = 10; duration = 59; initialDepth = 2844.261039; finalDepth = 2841.311034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.0008790000002 # Actual altitude: 50 # Commanded vehicle depth:2844.261039 # Seafloor depth:-2886.261918 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.985673 meters # Minimum depth: 2886.886516 meters looking forward 100.000000 meters along route # Maximum depth: 2887.815258 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.886516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787834; longitude = -120.995628; captureRadius = 10; duration = 59; initialDepth = 2846.886516; finalDepth = 2844.261039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.0008790000002 # Actual altitude: 50 # Commanded vehicle depth:2846.886516 # Seafloor depth:-2887.565204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.985650 meters # Minimum depth: 2887.676027 meters looking forward 100.000000 meters along route # Maximum depth: 2889.055383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.676027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787844; longitude = -120.996275; captureRadius = 10; duration = 59; initialDepth = 2847.676027; finalDepth = 2846.886516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.678688 # Actual altitude: 50 # Commanded vehicle depth:2847.676027 # Seafloor depth:-2887.838163 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.985626 meters # Minimum depth: 2888.267187 meters looking forward 100.000000 meters along route # Maximum depth: 2892.423441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.267187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787855; longitude = -120.996923; captureRadius = 10; duration = 59; initialDepth = 2848.267187; finalDepth = 2847.676027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.010374 # Actual altitude: 50 # Commanded vehicle depth:2848.267187 # Seafloor depth:-2890.277561 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 63.191362 meters # Minimum depth: 2892.423441 meters looking forward 100.000000 meters along route # Maximum depth: 2895.299741 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2852.423441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787865; longitude = -120.997571; captureRadius = 10; duration = 63; initialDepth = 2852.423441; finalDepth = 2848.267187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.010374 # Actual altitude: 50 # Commanded vehicle depth:2852.423441 # Seafloor depth:-2893.252359 # 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 17.699766 meters # Minimum depth: 2893.252359 meters looking forward 100.000000 meters along route # Maximum depth: 2895.990723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2853.252359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787875; longitude = -120.998253; captureRadius = 10; duration = 17; initialDepth = 2853.252359; finalDepth = 2852.423441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.7383639999998 # Actual altitude: 50 # Commanded vehicle depth:2853.252359 # Seafloor depth:-2895.990723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 71.841388 meters # Minimum depth: 2895.299741 meters looking forward 100.000000 meters along route # Maximum depth: 2897.262566 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2855.299741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787716; longitude = -120.998256; captureRadius = 10; duration = 71; initialDepth = 2855.299741; finalDepth = 2853.252359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.7383639999998 # Actual altitude: 50 # Commanded vehicle depth:2855.299741 # Seafloor depth:-2896.113693 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 71.841380 meters # Minimum depth: 2896.524492 meters looking forward 100.000000 meters along route # Maximum depth: 2897.262566 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2856.524492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787068; longitude = -120.998271; captureRadius = 10; duration = 71; initialDepth = 2856.524492; finalDepth = 2855.299741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.813952 # Actual altitude: 50 # Commanded vehicle depth:2856.524492 # Seafloor depth:-2897.043381 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 71.841373 meters # Minimum depth: 2895.264592 meters looking forward 100.000000 meters along route # Maximum depth: 2896.524492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2855.264592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.786421; longitude = -120.998285; captureRadius = 10; duration = 71; initialDepth = 2855.264592; finalDepth = 2856.524492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.8955230000001 # Actual altitude: 50 # Commanded vehicle depth:2855.264592 # Seafloor depth:-2896.160115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 50.950379 meters # Minimum depth: 2893.856687 meters looking forward 100.000000 meters along route # Maximum depth: 2895.692726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2853.856687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785773; longitude = -120.998300; captureRadius = 10; duration = 50; initialDepth = 2853.856687; finalDepth = 2855.264592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.1600290000001 # Actual altitude: 50 # Commanded vehicle depth:2853.856687 # Seafloor depth:-2895.016716 # 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 21 # Segment length 48.503379 meters # Minimum depth: 2892.299171 meters looking forward 100.000000 meters along route # Maximum depth: 2895.016716 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2852.299171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785314; longitude = -120.998310; captureRadius = 10; duration = 48; initialDepth = 2852.299171; finalDepth = 2853.856687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.1723870000001 # Actual altitude: 50 # Commanded vehicle depth:2852.299171 # Seafloor depth:-2893.471558 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.987405 meters # Minimum depth: 2889.576244 meters looking forward 100.000000 meters along route # Maximum depth: 2893.178813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2849.576244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785306; longitude = -120.997786; captureRadius = 10; duration = 59; initialDepth = 2849.576244; finalDepth = 2852.299171; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.8783510000003 # Actual altitude: 50 # Commanded vehicle depth:2849.576244 # Seafloor depth:-2891.454595 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.987428 meters # Minimum depth: 2886.090557 meters looking forward 100.000000 meters along route # Maximum depth: 2890.787055 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.090557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785296; longitude = -120.997139; captureRadius = 10; duration = 59; initialDepth = 2846.090557; finalDepth = 2849.576244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.0397029999999 # Actual altitude: 50 # Commanded vehicle depth:2846.090557 # Seafloor depth:-2888.130260 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.987452 meters # Minimum depth: 2885.510883 meters looking forward 100.000000 meters along route # Maximum depth: 2887.060533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.510883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785285; longitude = -120.996491; captureRadius = 10; duration = 59; initialDepth = 2845.510883; finalDepth = 2846.090557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.0397029999999 # Actual altitude: 50 # Commanded vehicle depth:2845.510883 # Seafloor depth:-2885.510883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.987475 meters # Minimum depth: 2885.628244 meters looking forward 100.000000 meters along route # Maximum depth: 2887.108834 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.628244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785275; longitude = -120.995844; captureRadius = 10; duration = 59; initialDepth = 2845.628244; finalDepth = 2845.510883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.9726089999999 # Actual altitude: 50 # Commanded vehicle depth:2845.628244 # Seafloor depth:-2886.600853 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.987499 meters # Minimum depth: 2885.160132 meters looking forward 100.000000 meters along route # Maximum depth: 2887.108834 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.160132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785265; longitude = -120.995196; captureRadius = 10; duration = 59; initialDepth = 2845.160132; finalDepth = 2845.628244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.6973039999998 # Actual altitude: 50 # Commanded vehicle depth:2845.160132 # Seafloor depth:-2886.857436 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.987522 meters # Minimum depth: 2883.203748 meters looking forward 100.000000 meters along route # Maximum depth: 2885.988260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.203748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785255; longitude = -120.994549; captureRadius = 10; duration = 59; initialDepth = 2843.203748; finalDepth = 2845.160132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.6973039999998 # Actual altitude: 50 # Commanded vehicle depth:2843.203748 # Seafloor depth:-2884.539903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.987546 meters # Minimum depth: 2882.547440 meters looking forward 100.000000 meters along route # Maximum depth: 2883.924597 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.547440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785245; longitude = -120.993901; captureRadius = 10; duration = 59; initialDepth = 2842.547440; finalDepth = 2843.203748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.336155 # Actual altitude: 50 # Commanded vehicle depth:2842.54744 # Seafloor depth:-2882.782450 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.987569 meters # Minimum depth: 2882.502115 meters looking forward 100.000000 meters along route # Maximum depth: 2882.755369 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.502115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785235; longitude = -120.993253; captureRadius = 10; duration = 59; initialDepth = 2842.502115; finalDepth = 2842.547440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.2532540000002 # Actual altitude: 50 # Commanded vehicle depth:2842.502115 # Seafloor depth:-2882.755369 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.987593 meters # Minimum depth: 2882.023332 meters looking forward 100.000000 meters along route # Maximum depth: 2882.689840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.023332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785225; longitude = -120.992606; captureRadius = 10; duration = 59; initialDepth = 2842.023332; finalDepth = 2842.502115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.2532540000002 # Actual altitude: 50 # Commanded vehicle depth:2842.023332 # Seafloor depth:-2882.225640 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.987617 meters # Minimum depth: 2882.023332 meters looking forward 100.000000 meters along route # Maximum depth: 2882.338489 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.023332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785214; longitude = -120.991958; captureRadius = 10; duration = 59; initialDepth = 2842.023332; finalDepth = 2842.023332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.2023079999999 # Actual altitude: 50 # Commanded vehicle depth:2842.023332 # Seafloor depth:-2882.170301 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.987640 meters # Minimum depth: 2881.817918 meters looking forward 100.000000 meters along route # Maximum depth: 2882.338489 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.817918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785204; longitude = -120.991311; captureRadius = 10; duration = 59; initialDepth = 2841.817918; finalDepth = 2842.023332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.1469689999999 # Actual altitude: 50 # Commanded vehicle depth:2841.817918 # Seafloor depth:-2881.894285 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.987663 meters # Minimum depth: 2881.817918 meters looking forward 100.000000 meters along route # Maximum depth: 2882.825020 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.817918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785194; longitude = -120.990663; captureRadius = 10; duration = 59; initialDepth = 2841.817918; finalDepth = 2841.817918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.5323999999996 # Actual altitude: 50 # Commanded vehicle depth:2841.817918 # Seafloor depth:-2882.350318 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.987688 meters # Minimum depth: 2880.358492 meters looking forward 100.000000 meters along route # Maximum depth: 2882.825020 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.358492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785184; longitude = -120.990016; captureRadius = 10; duration = 59; initialDepth = 2840.358492; finalDepth = 2841.817918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.4940410000004 # Actual altitude: 50 # Commanded vehicle depth:2840.358492 # Seafloor depth:-2881.852533 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.987711 meters # Minimum depth: 2880.193376 meters looking forward 100.000000 meters along route # Maximum depth: 2881.498470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.193376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785174; longitude = -120.989368; captureRadius = 10; duration = 59; initialDepth = 2840.193376; finalDepth = 2840.358492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.4940410000004 # Actual altitude: 50 # Commanded vehicle depth:2840.193376 # Seafloor depth:-2880.193376 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.987734 meters # Minimum depth: 2880.751678 meters looking forward 100.000000 meters along route # Maximum depth: 2883.903436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.751678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785164; longitude = -120.988721; captureRadius = 10; duration = 59; initialDepth = 2840.751678; finalDepth = 2840.193376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.002743 # Actual altitude: 50 # Commanded vehicle depth:2840.751678 # Seafloor depth:-2882.754421 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.987758 meters # Minimum depth: 2881.212475 meters looking forward 100.000000 meters along route # Maximum depth: 2883.903436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.212475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785154; longitude = -120.988073; captureRadius = 10; duration = 59; initialDepth = 2841.212475; finalDepth = 2840.751678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.0750110000004 # Actual altitude: 50 # Commanded vehicle depth:2841.212475 # Seafloor depth:-2883.287486 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.987782 meters # Minimum depth: 2881.003593 meters looking forward 100.000000 meters along route # Maximum depth: 2882.131746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.003593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785143; longitude = -120.987425; captureRadius = 10; duration = 59; initialDepth = 2841.003593; finalDepth = 2841.212475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.0750110000004 # Actual altitude: 50 # Commanded vehicle depth:2841.003593 # Seafloor depth:-2881.003593 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.987805 meters # Minimum depth: 2881.109117 meters looking forward 100.000000 meters along route # Maximum depth: 2881.542388 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.109117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785133; longitude = -120.986778; captureRadius = 10; duration = 59; initialDepth = 2841.109117; finalDepth = 2841.003593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.4218049999999 # Actual altitude: 50 # Commanded vehicle depth:2841.109117 # Seafloor depth:-2881.530922 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.987829 meters # Minimum depth: 2881.109117 meters looking forward 100.000000 meters along route # Maximum depth: 2882.037549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.109117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785123; longitude = -120.986130; captureRadius = 10; duration = 59; initialDepth = 2841.109117; finalDepth = 2841.109117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.4218049999999 # Actual altitude: 50 # Commanded vehicle depth:2841.109117 # Seafloor depth:-2881.166034 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.987852 meters # Minimum depth: 2881.535337 meters looking forward 100.000000 meters along route # Maximum depth: 2882.453365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.535337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785113; longitude = -120.985483; captureRadius = 10; duration = 59; initialDepth = 2841.535337; finalDepth = 2841.109117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.918028 # Actual altitude: 50 # Commanded vehicle depth:2841.535337 # Seafloor depth:-2882.453365 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.987876 meters # Minimum depth: 2879.522935 meters looking forward 100.000000 meters along route # Maximum depth: 2882.399504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.522935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785103; longitude = -120.984835; captureRadius = 10; duration = 59; initialDepth = 2839.522935; finalDepth = 2841.535337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.2618480000001 # Actual altitude: 50 # Commanded vehicle depth:2839.522935 # Seafloor depth:-2880.784783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.987900 meters # Minimum depth: 2879.522935 meters looking forward 100.000000 meters along route # Maximum depth: 2881.738594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.522935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785093; longitude = -120.984188; captureRadius = 10; duration = 59; initialDepth = 2839.522935; finalDepth = 2839.522935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.2618480000001 # Actual altitude: 50 # Commanded vehicle depth:2839.522935 # Seafloor depth:-2879.758347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.987923 meters # Minimum depth: 2880.673735 meters looking forward 100.000000 meters along route # Maximum depth: 2883.218591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.673735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785083; longitude = -120.983540; captureRadius = 10; duration = 59; initialDepth = 2840.673735; finalDepth = 2839.522935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.9351240000001 # Actual altitude: 50 # Commanded vehicle depth:2840.673735 # Seafloor depth:-2882.608859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.987947 meters # Minimum depth: 2882.176744 meters looking forward 100.000000 meters along route # Maximum depth: 2883.218591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.176744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785072; longitude = -120.982892; captureRadius = 10; duration = 59; initialDepth = 2842.176744; finalDepth = 2840.673735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.9351240000001 # Actual altitude: 50 # Commanded vehicle depth:2842.176744 # Seafloor depth:-2882.869965 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.987971 meters # Minimum depth: 2882.176744 meters looking forward 100.000000 meters along route # Maximum depth: 2884.343414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.176744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785062; longitude = -120.982245; captureRadius = 10; duration = 59; initialDepth = 2842.176744; finalDepth = 2842.176744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.693221 # Actual altitude: 50 # Commanded vehicle depth:2842.176744 # Seafloor depth:-2882.492569 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.987994 meters # Minimum depth: 2883.103555 meters looking forward 100.000000 meters along route # Maximum depth: 2886.501135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.103555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785052; longitude = -120.981597; captureRadius = 10; duration = 59; initialDepth = 2843.103555; finalDepth = 2842.176744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.208572 # Actual altitude: 50 # Commanded vehicle depth:2843.103555 # Seafloor depth:-2885.312127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 59.988018 meters # Minimum depth: 2885.932452 meters looking forward 100.000000 meters along route # Maximum depth: 2888.090493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.932452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785042; longitude = -120.980950; captureRadius = 10; duration = 59; initialDepth = 2845.932452; finalDepth = 2843.103555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.208572 # Actual altitude: 50 # Commanded vehicle depth:2845.932452 # Seafloor depth:-2887.008277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 52.494056 meters # Minimum depth: 2887.598832 meters looking forward 100.000000 meters along route # Maximum depth: 2890.610233 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.598832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785032; longitude = -120.980302; captureRadius = 10; duration = 52; initialDepth = 2847.598832; finalDepth = 2845.932452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.0758249999999 # Actual altitude: 50 # Commanded vehicle depth:2847.598832 # Seafloor depth:-2888.652412 # 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 44.125039 meters # Minimum depth: 2888.652412 meters looking forward 100.000000 meters along route # Maximum depth: 2891.232117 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.652412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785023; longitude = -120.979735; captureRadius = 10; duration = 44; initialDepth = 2848.652412; finalDepth = 2847.598832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.5797050000001 # Actual altitude: 50 # Commanded vehicle depth:2848.652412 # Seafloor depth:-2891.232117 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 57.891541 meters # Minimum depth: 2889.225822 meters looking forward 100.000000 meters along route # Maximum depth: 2890.727675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2849.225822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.784694; longitude = -120.980003; captureRadius = 10; duration = 57; initialDepth = 2849.225822; finalDepth = 2848.652412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.5797050000001 # Actual altitude: 50 # Commanded vehicle depth:2849.225822 # Seafloor depth:-2889.651572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 62.536499 meters # Minimum depth: 2888.996024 meters looking forward 100.000000 meters along route # Maximum depth: 2889.328966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.996024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.784262; longitude = -120.980354; captureRadius = 10; duration = 62; initialDepth = 2848.996024; finalDepth = 2849.225822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.4257500000003 # Actual altitude: 50 # Commanded vehicle depth:2848.996024 # Seafloor depth:-2889.147789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 53.246823 meters # Minimum depth: 2888.996024 meters looking forward 100.000000 meters along route # Maximum depth: 2889.508446 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.996024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783796; longitude = -120.980734; captureRadius = 10; duration = 53; initialDepth = 2848.996024; finalDepth = 2848.996024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.4207470000001 # Actual altitude: 50 # Commanded vehicle depth:2848.996024 # Seafloor depth:-2889.416771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 57.891782 meters # Minimum depth: 2888.881869 meters looking forward 100.000000 meters along route # Maximum depth: 2889.508446 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.881869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783399; longitude = -120.981057; captureRadius = 10; duration = 57; initialDepth = 2848.881869; finalDepth = 2848.996024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.4207470000001 # Actual altitude: 50 # Commanded vehicle depth:2848.881869 # Seafloor depth:-2889.207984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 63.577054 meters # Minimum depth: 2887.997329 meters looking forward 100.000000 meters along route # Maximum depth: 2889.137692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.997329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782967; longitude = -120.981408; captureRadius = 10; duration = 63; initialDepth = 2847.997329; finalDepth = 2848.881869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.795063 # Actual altitude: 50 # Commanded vehicle depth:2847.997329 # Seafloor depth:-2888.792392 # 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 19 # Segment length 4.703431 meters # Minimum depth: 2887.997329 meters looking forward 100.000000 meters along route # Maximum depth: 2889.429749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.997329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782493; longitude = -120.981794; captureRadius = 10; duration = 4; initialDepth = 2847.997329; finalDepth = 2847.997329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.4324200000001 # Actual altitude: 50 # Commanded vehicle depth:2847.997329 # Seafloor depth:-2889.429749 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842063 meters # Minimum depth: 2887.409829 meters looking forward 100.000000 meters along route # Maximum depth: 2889.429749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.409829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782535; longitude = -120.981793; captureRadius = 10; duration = 71; initialDepth = 2847.409829; finalDepth = 2847.997329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.4324200000001 # Actual altitude: 50 # Commanded vehicle depth:2847.409829 # Seafloor depth:-2888.192947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842070 meters # Minimum depth: 2886.504001 meters looking forward 100.000000 meters along route # Maximum depth: 2887.409829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.504001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783183; longitude = -120.981778; captureRadius = 10; duration = 71; initialDepth = 2846.504001; finalDepth = 2847.409829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.8444830000003 # Actual altitude: 50 # Commanded vehicle depth:2846.504001 # Seafloor depth:-2887.348484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842077 meters # Minimum depth: 2885.814089 meters looking forward 100.000000 meters along route # Maximum depth: 2886.504001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.814089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783830; longitude = -120.981764; captureRadius = 10; duration = 71; initialDepth = 2845.814089; finalDepth = 2846.504001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.8444830000003 # Actual altitude: 50 # Commanded vehicle depth:2845.814089 # Seafloor depth:-2886.209993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842085 meters # Minimum depth: 2884.941667 meters looking forward 100.000000 meters along route # Maximum depth: 2885.814089 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.941667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.784478; longitude = -120.981749; captureRadius = 10; duration = 71; initialDepth = 2844.941667; finalDepth = 2845.814089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.7320169999998 # Actual altitude: 50 # Commanded vehicle depth:2844.941667 # Seafloor depth:-2885.673684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842092 meters # Minimum depth: 2884.564541 meters looking forward 100.000000 meters along route # Maximum depth: 2884.941667 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.564541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785126; longitude = -120.981735; captureRadius = 10; duration = 71; initialDepth = 2844.564541; finalDepth = 2844.941667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.7320169999998 # Actual altitude: 50 # Commanded vehicle depth:2844.564541 # Seafloor depth:-2884.564541 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842099 meters # Minimum depth: 2884.197325 meters looking forward 100.000000 meters along route # Maximum depth: 2884.718222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.197325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785773; longitude = -120.981720; captureRadius = 10; duration = 71; initialDepth = 2844.197325; finalDepth = 2844.564541; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.4261630000001 # Actual altitude: 50 # Commanded vehicle depth:2844.197325 # Seafloor depth:-2884.623488 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842107 meters # Minimum depth: 2884.013230 meters looking forward 100.000000 meters along route # Maximum depth: 2884.197325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.013230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.786421; longitude = -120.981705; captureRadius = 10; duration = 71; initialDepth = 2844.013230; finalDepth = 2844.197325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.4261630000001 # Actual altitude: 50 # Commanded vehicle depth:2844.01323 # Seafloor depth:-2884.172122 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842114 meters # Minimum depth: 2883.666374 meters looking forward 100.000000 meters along route # Maximum depth: 2884.013230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.666374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787068; longitude = -120.981691; captureRadius = 10; duration = 71; initialDepth = 2843.666374; finalDepth = 2844.013230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.2038440000001 # Actual altitude: 50 # Commanded vehicle depth:2843.666374 # Seafloor depth:-2883.870218 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842121 meters # Minimum depth: 2883.792405 meters looking forward 100.000000 meters along route # Maximum depth: 2885.328719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.792405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787716; longitude = -120.981676; captureRadius = 10; duration = 71; initialDepth = 2843.792405; finalDepth = 2843.666374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.2038440000001 # Actual altitude: 50 # Commanded vehicle depth:2843.792405 # Seafloor depth:-2883.987410 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842128 meters # Minimum depth: 2884.868183 meters looking forward 100.000000 meters along route # Maximum depth: 2885.328719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.868183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788363; longitude = -120.981661; captureRadius = 10; duration = 71; initialDepth = 2844.868183; finalDepth = 2843.792405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.3735019999999 # Actual altitude: 50 # Commanded vehicle depth:2844.868183 # Seafloor depth:-2885.241685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842136 meters # Minimum depth: 2884.868183 meters looking forward 100.000000 meters along route # Maximum depth: 2886.299639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.868183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789011; longitude = -120.981647; captureRadius = 10; duration = 71; initialDepth = 2844.868183; finalDepth = 2844.868183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.3735019999999 # Actual altitude: 50 # Commanded vehicle depth:2844.868183 # Seafloor depth:-2885.136832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842144 meters # Minimum depth: 2884.375426 meters looking forward 100.000000 meters along route # Maximum depth: 2886.305348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.375426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789659; longitude = -120.981632; captureRadius = 10; duration = 71; initialDepth = 2844.375426; finalDepth = 2844.868183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.9299219999998 # Actual altitude: 50 # Commanded vehicle depth:2844.375426 # Seafloor depth:-2886.305348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842150 meters # Minimum depth: 2884.165681 meters looking forward 100.000000 meters along route # Maximum depth: 2884.375426 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.165681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790306; longitude = -120.981618; captureRadius = 10; duration = 71; initialDepth = 2844.165681; finalDepth = 2844.375426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.9299219999998 # Actual altitude: 50 # Commanded vehicle depth:2844.165681 # Seafloor depth:-2884.198411 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842158 meters # Minimum depth: 2884.125421 meters looking forward 100.000000 meters along route # Maximum depth: 2884.939919 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.125421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790954; longitude = -120.981603; captureRadius = 10; duration = 71; initialDepth = 2844.125421; finalDepth = 2844.165681; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.0327299999999 # Actual altitude: 50 # Commanded vehicle depth:2844.125421 # Seafloor depth:-2884.125421 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842166 meters # Minimum depth: 2884.939919 meters looking forward 100.000000 meters along route # Maximum depth: 2886.444463 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.939919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791601; longitude = -120.981588; captureRadius = 10; duration = 71; initialDepth = 2844.939919; finalDepth = 2844.125421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.7316540000002 # Actual altitude: 50 # Commanded vehicle depth:2844.939919 # Seafloor depth:-2885.671573 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842172 meters # Minimum depth: 2886.418659 meters looking forward 100.000000 meters along route # Maximum depth: 2886.614926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.418659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792249; longitude = -120.981574; captureRadius = 10; duration = 71; initialDepth = 2846.418659; finalDepth = 2844.939919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.7316540000002 # Actual altitude: 50 # Commanded vehicle depth:2846.418659 # Seafloor depth:-2886.422632 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842180 meters # Minimum depth: 2884.620240 meters looking forward 100.000000 meters along route # Maximum depth: 2886.735693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.620240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792896; longitude = -120.981559; captureRadius = 10; duration = 71; initialDepth = 2844.620240; finalDepth = 2846.418659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.1154529999999 # Actual altitude: 50 # Commanded vehicle depth:2844.62024 # Seafloor depth:-2886.735693 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842188 meters # Minimum depth: 2882.386329 meters looking forward 100.000000 meters along route # Maximum depth: 2884.620240 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.386329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793544; longitude = -120.981545; captureRadius = 10; duration = 71; initialDepth = 2842.386329; finalDepth = 2844.620240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.1154529999999 # Actual altitude: 50 # Commanded vehicle depth:2842.386329 # Seafloor depth:-2883.307472 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842194 meters # Minimum depth: 2881.650423 meters looking forward 100.000000 meters along route # Maximum depth: 2882.386329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.650423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794192; longitude = -120.981530; captureRadius = 10; duration = 71; initialDepth = 2841.650423; finalDepth = 2842.386329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.921143 # Actual altitude: 50 # Commanded vehicle depth:2841.650423 # Seafloor depth:-2881.947539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 51.167553 meters # Minimum depth: 2881.650423 meters looking forward 100.000000 meters along route # Maximum depth: 2883.345344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.650423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794839; longitude = -120.981515; captureRadius = 10; duration = 51; initialDepth = 2841.650423; finalDepth = 2841.650423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.2993529999999 # Actual altitude: 50 # Commanded vehicle depth:2841.650423 # Seafloor depth:-2881.949776 # 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 28.540911 meters # Minimum depth: 2881.949776 meters looking forward 100.000000 meters along route # Maximum depth: 2883.845886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.949776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795300; longitude = -120.981505; captureRadius = 10; duration = 28; initialDepth = 2841.949776; finalDepth = 2841.650423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.8961100000001 # Actual altitude: 50 # Commanded vehicle depth:2841.949776 # Seafloor depth:-2883.845886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 59.980889 meters # Minimum depth: 2883.345344 meters looking forward 100.000000 meters along route # Maximum depth: 2884.431302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.345344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795305; longitude = -120.981813; captureRadius = 10; duration = 59; initialDepth = 2843.345344; finalDepth = 2841.949776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.8961100000001 # Actual altitude: 50 # Commanded vehicle depth:2843.345344 # Seafloor depth:-2884.118992 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 61.478200 meters # Minimum depth: 2882.746400 meters looking forward 100.000000 meters along route # Maximum depth: 2884.386390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.746400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795315; longitude = -120.982461; captureRadius = 10; duration = 61; initialDepth = 2842.746400; finalDepth = 2843.345344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.2384229999998 # Actual altitude: 50 # Commanded vehicle depth:2842.7464 # Seafloor depth:-2883.984823 # 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 17 # Segment length 53.992109 meters # Minimum depth: 2882.187012 meters looking forward 100.000000 meters along route # Maximum depth: 2883.555745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.187012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795326; longitude = -120.983124; captureRadius = 10; duration = 53; initialDepth = 2842.187012; finalDepth = 2842.746400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.2384229999998 # Actual altitude: 50 # Commanded vehicle depth:2842.187012 # Seafloor depth:-2882.187012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842124 meters # Minimum depth: 2880.918037 meters looking forward 100.000000 meters along route # Maximum depth: 2883.399812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.918037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794839; longitude = -120.983135; captureRadius = 10; duration = 71; initialDepth = 2840.918037; finalDepth = 2842.187012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.778632 # Actual altitude: 50 # Commanded vehicle depth:2840.918037 # Seafloor depth:-2882.696669 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842116 meters # Minimum depth: 2880.918037 meters looking forward 100.000000 meters along route # Maximum depth: 2882.673911 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.918037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794192; longitude = -120.983150; captureRadius = 10; duration = 71; initialDepth = 2840.918037; finalDepth = 2840.918037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.778632 # Actual altitude: 50 # Commanded vehicle depth:2840.918037 # Seafloor depth:-2881.461251 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842109 meters # Minimum depth: 2873.669753 meters looking forward 100.000000 meters along route # Maximum depth: 2882.673911 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2833.669753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793544; longitude = -120.983165; captureRadius = 10; duration = 71; initialDepth = 2833.669753; finalDepth = 2840.918037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.1638579999999 # Actual altitude: 50 # Commanded vehicle depth:2833.669753 # Seafloor depth:-2880.833611 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842102 meters # Minimum depth: 2872.537636 meters looking forward 100.000000 meters along route # Maximum depth: 2880.453016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2832.537636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792896; longitude = -120.983179; captureRadius = 10; duration = 71; initialDepth = 2832.537636; finalDepth = 2833.669753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.1638579999999 # Actual altitude: 50 # Commanded vehicle depth:2832.537636 # Seafloor depth:-2872.537636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842094 meters # Minimum depth: 2880.453016 meters looking forward 100.000000 meters along route # Maximum depth: 2883.447197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.453016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792249; longitude = -120.983194; captureRadius = 10; duration = 71; initialDepth = 2840.453016; finalDepth = 2832.537636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.6569090000003 # Actual altitude: 50 # Commanded vehicle depth:2840.453016 # Seafloor depth:-2883.109925 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842087 meters # Minimum depth: 2883.267758 meters looking forward 100.000000 meters along route # Maximum depth: 2883.932451 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.267758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791601; longitude = -120.983208; captureRadius = 10; duration = 71; initialDepth = 2843.267758; finalDepth = 2840.453016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.6569090000003 # Actual altitude: 50 # Commanded vehicle depth:2843.267758 # Seafloor depth:-2883.569738 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842080 meters # Minimum depth: 2882.194576 meters looking forward 100.000000 meters along route # Maximum depth: 2883.932451 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.194576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790954; longitude = -120.983223; captureRadius = 10; duration = 71; initialDepth = 2842.194576; finalDepth = 2843.267758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.395446 # Actual altitude: 50 # Commanded vehicle depth:2842.194576 # Seafloor depth:-2883.590022 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842073 meters # Minimum depth: 2880.921773 meters looking forward 100.000000 meters along route # Maximum depth: 2882.194576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.921773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790306; longitude = -120.983238; captureRadius = 10; duration = 71; initialDepth = 2840.921773; finalDepth = 2842.194576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.395446 # Actual altitude: 50 # Commanded vehicle depth:2840.921773 # Seafloor depth:-2881.514881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842065 meters # Minimum depth: 2880.850112 meters looking forward 100.000000 meters along route # Maximum depth: 2880.921773 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.850112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789659; longitude = -120.983252; captureRadius = 10; duration = 71; initialDepth = 2840.850112; finalDepth = 2840.921773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.593108 # Actual altitude: 50 # Commanded vehicle depth:2840.850112 # Seafloor depth:-2880.869727 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842057 meters # Minimum depth: 2880.773819 meters looking forward 100.000000 meters along route # Maximum depth: 2881.007997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.773819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789011; longitude = -120.983267; captureRadius = 10; duration = 71; initialDepth = 2840.773819; finalDepth = 2840.850112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.2341780000002 # Actual altitude: 50 # Commanded vehicle depth:2840.773819 # Seafloor depth:-2881.007997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842051 meters # Minimum depth: 2880.341840 meters looking forward 100.000000 meters along route # Maximum depth: 2880.773819 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.341840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788363; longitude = -120.983281; captureRadius = 10; duration = 71; initialDepth = 2840.341840; finalDepth = 2840.773819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.2397889999997 # Actual altitude: 50 # Commanded vehicle depth:2840.34184 # Seafloor depth:-2880.581629 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842043 meters # Minimum depth: 2879.530939 meters looking forward 100.000000 meters along route # Maximum depth: 2880.341840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.530939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787716; longitude = -120.983296; captureRadius = 10; duration = 71; initialDepth = 2839.530939; finalDepth = 2840.341840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.7271579999997 # Actual altitude: 50 # Commanded vehicle depth:2839.530939 # Seafloor depth:-2880.258097 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842036 meters # Minimum depth: 2879.114573 meters looking forward 100.000000 meters along route # Maximum depth: 2879.890383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.114573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787068; longitude = -120.983311; captureRadius = 10; duration = 71; initialDepth = 2839.114573; finalDepth = 2839.530939; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.7271579999997 # Actual altitude: 50 # Commanded vehicle depth:2839.114573 # Seafloor depth:-2879.114573 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842028 meters # Minimum depth: 2879.600883 meters looking forward 100.000000 meters along route # Maximum depth: 2880.267064 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.600883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.786421; longitude = -120.983325; captureRadius = 10; duration = 71; initialDepth = 2839.600883; finalDepth = 2839.114573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.3669970000001 # Actual altitude: 50 # Commanded vehicle depth:2839.600883 # Seafloor depth:-2879.967880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842021 meters # Minimum depth: 2880.267064 meters looking forward 100.000000 meters along route # Maximum depth: 2881.842238 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.267064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785773; longitude = -120.983340; captureRadius = 10; duration = 71; initialDepth = 2840.267064; finalDepth = 2839.600883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.3669970000001 # Actual altitude: 50 # Commanded vehicle depth:2840.267064 # Seafloor depth:-2880.606610 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842014 meters # Minimum depth: 2881.842238 meters looking forward 100.000000 meters along route # Maximum depth: 2883.941485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.842238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785126; longitude = -120.983354; captureRadius = 10; duration = 71; initialDepth = 2841.842238; finalDepth = 2840.267064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.1257999999998 # Actual altitude: 50 # Commanded vehicle depth:2841.842238 # Seafloor depth:-2882.968038 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842006 meters # Minimum depth: 2883.207424 meters looking forward 100.000000 meters along route # Maximum depth: 2883.941485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.207424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.784478; longitude = -120.983369; captureRadius = 10; duration = 71; initialDepth = 2843.207424; finalDepth = 2841.842238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.1257999999998 # Actual altitude: 50 # Commanded vehicle depth:2843.207424 # Seafloor depth:-2883.873727 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841999 meters # Minimum depth: 2883.074442 meters looking forward 100.000000 meters along route # Maximum depth: 2883.979141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.074442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783830; longitude = -120.983384; captureRadius = 10; duration = 71; initialDepth = 2843.074442; finalDepth = 2843.207424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.666303 # Actual altitude: 50 # Commanded vehicle depth:2843.074442 # Seafloor depth:-2883.074442 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 73.722214 meters # Minimum depth: 2883.979141 meters looking forward 100.000000 meters along route # Maximum depth: 2888.970337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.979141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783183; longitude = -120.983398; captureRadius = 10; duration = 73; initialDepth = 2843.979141; finalDepth = 2843.074442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.6982750000002 # Actual altitude: 50 # Commanded vehicle depth:2843.979141 # Seafloor depth:-2884.677416 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 31.751998 meters # Minimum depth: 2885.384980 meters looking forward 100.000000 meters along route # Maximum depth: 2890.250977 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.384980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782518; longitude = -120.983413; captureRadius = 10; duration = 31; initialDepth = 2845.384980; finalDepth = 2843.979141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.8659970000003 # Actual altitude: 50 # Commanded vehicle depth:2845.38498 # Seafloor depth:-2890.250977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 68.229771 meters # Minimum depth: 2886.526193 meters looking forward 100.000000 meters along route # Maximum depth: 2890.250977 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.526193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782524; longitude = -120.983756; captureRadius = 10; duration = 68; initialDepth = 2846.526193; finalDepth = 2845.384980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.8659970000003 # Actual altitude: 50 # Commanded vehicle depth:2846.526193 # Seafloor depth:-2888.405480 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 50.018231 meters # Minimum depth: 2886.498007 meters looking forward 100.000000 meters along route # Maximum depth: 2887.628777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.498007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782535; longitude = -120.984492; captureRadius = 10; duration = 50; initialDepth = 2846.498007; finalDepth = 2846.526193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.8792869999997 # Actual altitude: 50 # Commanded vehicle depth:2846.498007 # Seafloor depth:-2886.511914 # 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 15 # Segment length 70.901296 meters # Minimum depth: 2885.672299 meters looking forward 100.000000 meters along route # Maximum depth: 2886.529694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.672299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782544; longitude = -120.985032; captureRadius = 10; duration = 70; initialDepth = 2845.672299; finalDepth = 2846.498007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.6913480000003 # Actual altitude: 50 # Commanded vehicle depth:2845.672299 # Seafloor depth:-2886.363647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841928 meters # Minimum depth: 2885.225931 meters looking forward 100.000000 meters along route # Maximum depth: 2885.672299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.225931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783183; longitude = -120.985018; captureRadius = 10; duration = 71; initialDepth = 2845.225931; finalDepth = 2845.672299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.6913480000003 # Actual altitude: 50 # Commanded vehicle depth:2845.225931 # Seafloor depth:-2885.582299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841936 meters # Minimum depth: 2883.968557 meters looking forward 100.000000 meters along route # Maximum depth: 2885.225931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.968557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783830; longitude = -120.985003; captureRadius = 10; duration = 71; initialDepth = 2843.968557; finalDepth = 2845.225931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.6295969999996 # Actual altitude: 50 # Commanded vehicle depth:2843.968557 # Seafloor depth:-2884.598154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841943 meters # Minimum depth: 2882.839931 meters looking forward 100.000000 meters along route # Maximum depth: 2884.130345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.839931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.784478; longitude = -120.984989; captureRadius = 10; duration = 71; initialDepth = 2842.839931; finalDepth = 2843.968557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.2904140000001 # Actual altitude: 50 # Commanded vehicle depth:2842.839931 # Seafloor depth:-2884.130345 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841950 meters # Minimum depth: 2879.922181 meters looking forward 100.000000 meters along route # Maximum depth: 2882.839931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.922181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785126; longitude = -120.984974; captureRadius = 10; duration = 71; initialDepth = 2839.922181; finalDepth = 2842.839931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.4099890000002 # Actual altitude: 50 # Commanded vehicle depth:2839.922181 # Seafloor depth:-2881.332170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841958 meters # Minimum depth: 2877.740299 meters looking forward 100.000000 meters along route # Maximum depth: 2879.922181 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.740299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785773; longitude = -120.984960; captureRadius = 10; duration = 71; initialDepth = 2837.740299; finalDepth = 2839.922181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.6441180000002 # Actual altitude: 50 # Commanded vehicle depth:2837.740299 # Seafloor depth:-2879.384417 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841965 meters # Minimum depth: 2877.634135 meters looking forward 100.000000 meters along route # Maximum depth: 2877.924622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.634135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.786421; longitude = -120.984945; captureRadius = 10; duration = 71; initialDepth = 2837.634135; finalDepth = 2837.740299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.6441180000002 # Actual altitude: 50 # Commanded vehicle depth:2837.634135 # Seafloor depth:-2877.634135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841972 meters # Minimum depth: 2877.289928 meters looking forward 100.000000 meters along route # Maximum depth: 2877.924622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.289928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787068; longitude = -120.984930; captureRadius = 10; duration = 71; initialDepth = 2837.289928; finalDepth = 2837.634135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.2308009999997 # Actual altitude: 50 # Commanded vehicle depth:2837.289928 # Seafloor depth:-2877.520729 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841979 meters # Minimum depth: 2877.462714 meters looking forward 100.000000 meters along route # Maximum depth: 2878.249374 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.462714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787716; longitude = -120.984916; captureRadius = 10; duration = 71; initialDepth = 2837.462714; finalDepth = 2837.289928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.4074480000004 # Actual altitude: 50 # Commanded vehicle depth:2837.462714 # Seafloor depth:-2877.870162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841987 meters # Minimum depth: 2877.341780 meters looking forward 100.000000 meters along route # Maximum depth: 2878.249374 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.341780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788363; longitude = -120.984901; captureRadius = 10; duration = 71; initialDepth = 2837.341780; finalDepth = 2837.462714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.6773289999996 # Actual altitude: 50 # Commanded vehicle depth:2837.34178 # Seafloor depth:-2878.019109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841995 meters # Minimum depth: 2876.512827 meters looking forward 100.000000 meters along route # Maximum depth: 2877.341780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.512827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789011; longitude = -120.984887; captureRadius = 10; duration = 71; initialDepth = 2836.512827; finalDepth = 2837.341780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.6773289999996 # Actual altitude: 50 # Commanded vehicle depth:2836.512827 # Seafloor depth:-2876.961407 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842001 meters # Minimum depth: 2876.512827 meters looking forward 100.000000 meters along route # Maximum depth: 2878.180338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.512827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789659; longitude = -120.984872; captureRadius = 10; duration = 71; initialDepth = 2836.512827; finalDepth = 2836.512827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.4485799999998 # Actual altitude: 50 # Commanded vehicle depth:2836.512827 # Seafloor depth:-2876.757416 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842009 meters # Minimum depth: 2878.180338 meters looking forward 100.000000 meters along route # Maximum depth: 2878.982198 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.180338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790306; longitude = -120.984857; captureRadius = 10; duration = 71; initialDepth = 2838.180338; finalDepth = 2836.512827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.6287379999999 # Actual altitude: 50 # Commanded vehicle depth:2838.180338 # Seafloor depth:-2878.809076 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842016 meters # Minimum depth: 2878.659853 meters looking forward 100.000000 meters along route # Maximum depth: 2878.908358 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.659853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790954; longitude = -120.984843; captureRadius = 10; duration = 71; initialDepth = 2838.659853; finalDepth = 2838.180338; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.6287379999999 # Actual altitude: 50 # Commanded vehicle depth:2838.659853 # Seafloor depth:-2878.743945 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842024 meters # Minimum depth: 2878.774987 meters looking forward 100.000000 meters along route # Maximum depth: 2879.045891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.774987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791601; longitude = -120.984828; captureRadius = 10; duration = 71; initialDepth = 2838.774987; finalDepth = 2838.659853; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.2006980000001 # Actual altitude: 50 # Commanded vehicle depth:2838.774987 # Seafloor depth:-2878.975685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842031 meters # Minimum depth: 2879.027733 meters looking forward 100.000000 meters along route # Maximum depth: 2879.601469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.027733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792249; longitude = -120.984814; captureRadius = 10; duration = 71; initialDepth = 2839.027733; finalDepth = 2838.774987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.2006980000001 # Actual altitude: 50 # Commanded vehicle depth:2839.027733 # Seafloor depth:-2879.092256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842038 meters # Minimum depth: 2879.601469 meters looking forward 100.000000 meters along route # Maximum depth: 2880.158819 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.601469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792896; longitude = -120.984799; captureRadius = 10; duration = 71; initialDepth = 2839.601469; finalDepth = 2839.027733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.3416969999998 # Actual altitude: 50 # Commanded vehicle depth:2839.601469 # Seafloor depth:-2879.943166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842046 meters # Minimum depth: 2878.510656 meters looking forward 100.000000 meters along route # Maximum depth: 2880.017462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.510656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793544; longitude = -120.984785; captureRadius = 10; duration = 71; initialDepth = 2838.510656; finalDepth = 2839.601469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.9260730000001 # Actual altitude: 50 # Commanded vehicle depth:2838.510656 # Seafloor depth:-2879.436729 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.842053 meters # Minimum depth: 2876.702540 meters looking forward 100.000000 meters along route # Maximum depth: 2878.510656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.702540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794192; longitude = -120.984770; captureRadius = 10; duration = 71; initialDepth = 2836.702540; finalDepth = 2838.510656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.2431299999998 # Actual altitude: 50 # Commanded vehicle depth:2836.70254 # Seafloor depth:-2877.945670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 56.814301 meters # Minimum depth: 2876.607251 meters looking forward 100.000000 meters along route # Maximum depth: 2877.263100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.607251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794839; longitude = -120.984755; captureRadius = 10; duration = 56; initialDepth = 2836.607251; finalDepth = 2836.702540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.2431299999998 # Actual altitude: 50 # Commanded vehicle depth:2836.607251 # Seafloor depth:-2876.607251 # 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 28.445055 meters # Minimum depth: 2876.607251 meters looking forward 100.000000 meters along route # Maximum depth: 2877.435120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.607251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795351; longitude = -120.984744; captureRadius = 10; duration = 28; initialDepth = 2836.607251; finalDepth = 2836.607251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.8278690000002 # Actual altitude: 50 # Commanded vehicle depth:2836.607251 # Seafloor depth:-2877.435120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 59.980734 meters # Minimum depth: 2875.916314 meters looking forward 100.000000 meters along route # Maximum depth: 2877.435120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.916314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795356; longitude = -120.985051; captureRadius = 10; duration = 59; initialDepth = 2835.916314; finalDepth = 2836.607251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.1249319999997 # Actual altitude: 50 # Commanded vehicle depth:2835.916314 # Seafloor depth:-2877.041246 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 61.574211 meters # Minimum depth: 2874.599138 meters looking forward 100.000000 meters along route # Maximum depth: 2875.916314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.599138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795366; longitude = -120.985699; captureRadius = 10; duration = 61; initialDepth = 2834.599138; finalDepth = 2835.916314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.1249319999997 # Actual altitude: 50 # Commanded vehicle depth:2834.599138 # Seafloor depth:-2875.160867 # 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 13 # Segment length 59.634133 meters # Minimum depth: 2874.599138 meters looking forward 100.000000 meters along route # Maximum depth: 2875.137451 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.599138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795377; longitude = -120.986363; captureRadius = 10; duration = 59; initialDepth = 2834.599138; finalDepth = 2834.599138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.561729 # Actual altitude: 50 # Commanded vehicle depth:2834.599138 # Seafloor depth:-2874.662537 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841982 meters # Minimum depth: 2875.137451 meters looking forward 100.000000 meters along route # Maximum depth: 2875.734210 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.137451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794839; longitude = -120.986375; captureRadius = 10; duration = 71; initialDepth = 2835.137451; finalDepth = 2834.599138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.3921959999998 # Actual altitude: 50 # Commanded vehicle depth:2835.137451 # Seafloor depth:-2875.529647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841975 meters # Minimum depth: 2875.734210 meters looking forward 100.000000 meters along route # Maximum depth: 2876.704336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.734210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794192; longitude = -120.986390; captureRadius = 10; duration = 71; initialDepth = 2835.734210; finalDepth = 2835.137451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.3921959999998 # Actual altitude: 50 # Commanded vehicle depth:2835.73421 # Seafloor depth:-2876.030804 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841968 meters # Minimum depth: 2876.217279 meters looking forward 100.000000 meters along route # Maximum depth: 2876.704336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.217279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793544; longitude = -120.986405; captureRadius = 10; duration = 71; initialDepth = 2836.217279; finalDepth = 2835.734210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.4247350000001 # Actual altitude: 50 # Commanded vehicle depth:2836.217279 # Seafloor depth:-2876.642014 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841960 meters # Minimum depth: 2876.108673 meters looking forward 100.000000 meters along route # Maximum depth: 2876.242824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.108673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792896; longitude = -120.986419; captureRadius = 10; duration = 71; initialDepth = 2836.108673; finalDepth = 2836.217279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.4247350000001 # Actual altitude: 50 # Commanded vehicle depth:2836.108673 # Seafloor depth:-2876.172110 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841953 meters # Minimum depth: 2875.585816 meters looking forward 100.000000 meters along route # Maximum depth: 2876.108673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.585816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792249; longitude = -120.986434; captureRadius = 10; duration = 71; initialDepth = 2835.585816; finalDepth = 2836.108673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.2195820000002 # Actual altitude: 50 # Commanded vehicle depth:2835.585816 # Seafloor depth:-2875.805398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841945 meters # Minimum depth: 2875.439621 meters looking forward 100.000000 meters along route # Maximum depth: 2875.724866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.439621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791601; longitude = -120.986448; captureRadius = 10; duration = 71; initialDepth = 2835.439621; finalDepth = 2835.585816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.2195820000002 # Actual altitude: 50 # Commanded vehicle depth:2835.439621 # Seafloor depth:-2875.494567 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841938 meters # Minimum depth: 2875.724866 meters looking forward 100.000000 meters along route # Maximum depth: 2877.301307 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.724866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790954; longitude = -120.986463; captureRadius = 10; duration = 71; initialDepth = 2835.724866; finalDepth = 2835.439621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.588949 # Actual altitude: 50 # Commanded vehicle depth:2835.724866 # Seafloor depth:-2876.313815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841931 meters # Minimum depth: 2877.301307 meters looking forward 100.000000 meters along route # Maximum depth: 2877.798129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.301307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790306; longitude = -120.986477; captureRadius = 10; duration = 71; initialDepth = 2837.301307; finalDepth = 2835.724866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.588949 # Actual altitude: 50 # Commanded vehicle depth:2837.301307 # Seafloor depth:-2877.618589 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841924 meters # Minimum depth: 2877.385439 meters looking forward 100.000000 meters along route # Maximum depth: 2877.772682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.385439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789659; longitude = -120.986492; captureRadius = 10; duration = 71; initialDepth = 2837.385439; finalDepth = 2837.301307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.317282 # Actual altitude: 50 # Commanded vehicle depth:2837.385439 # Seafloor depth:-2877.593168 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841916 meters # Minimum depth: 2876.258869 meters looking forward 100.000000 meters along route # Maximum depth: 2877.385439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.258869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789011; longitude = -120.986507; captureRadius = 10; duration = 71; initialDepth = 2836.258869; finalDepth = 2837.385439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.0354890000003 # Actual altitude: 50 # Commanded vehicle depth:2836.258869 # Seafloor depth:-2877.294358 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841909 meters # Minimum depth: 2875.963419 meters looking forward 100.000000 meters along route # Maximum depth: 2876.788933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.963419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788363; longitude = -120.986521; captureRadius = 10; duration = 71; initialDepth = 2835.963419; finalDepth = 2836.258869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.0354890000003 # Actual altitude: 50 # Commanded vehicle depth:2835.963419 # Seafloor depth:-2875.963419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841901 meters # Minimum depth: 2876.788933 meters looking forward 100.000000 meters along route # Maximum depth: 2878.973010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.788933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787716; longitude = -120.986536; captureRadius = 10; duration = 71; initialDepth = 2836.788933; finalDepth = 2835.963419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.5873800000004 # Actual altitude: 50 # Commanded vehicle depth:2836.788933 # Seafloor depth:-2877.376313 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841894 meters # Minimum depth: 2878.973010 meters looking forward 100.000000 meters along route # Maximum depth: 2880.309770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.973010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787068; longitude = -120.986550; captureRadius = 10; duration = 71; initialDepth = 2838.973010; finalDepth = 2836.788933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.7394429999999 # Actual altitude: 50 # Commanded vehicle depth:2838.97301 # Seafloor depth:-2879.712453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841887 meters # Minimum depth: 2879.186742 meters looking forward 100.000000 meters along route # Maximum depth: 2880.309770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.186742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.786421; longitude = -120.986565; captureRadius = 10; duration = 71; initialDepth = 2839.186742; finalDepth = 2838.973010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.808759 # Actual altitude: 50 # Commanded vehicle depth:2839.186742 # Seafloor depth:-2879.995501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841880 meters # Minimum depth: 2879.186742 meters looking forward 100.000000 meters along route # Maximum depth: 2880.325987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.186742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785773; longitude = -120.986579; captureRadius = 10; duration = 71; initialDepth = 2839.186742; finalDepth = 2839.186742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.808759 # Actual altitude: 50 # Commanded vehicle depth:2839.186742 # Seafloor depth:-2879.270246 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841872 meters # Minimum depth: 2880.325987 meters looking forward 100.000000 meters along route # Maximum depth: 2882.796164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.325987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785126; longitude = -120.986594; captureRadius = 10; duration = 71; initialDepth = 2840.325987; finalDepth = 2839.186742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.9672379999997 # Actual altitude: 50 # Commanded vehicle depth:2840.325987 # Seafloor depth:-2881.293225 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841864 meters # Minimum depth: 2882.459797 meters looking forward 100.000000 meters along route # Maximum depth: 2882.819277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.459797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.784478; longitude = -120.986609; captureRadius = 10; duration = 71; initialDepth = 2842.459797; finalDepth = 2840.325987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.9672379999997 # Actual altitude: 50 # Commanded vehicle depth:2842.459797 # Seafloor depth:-2882.819277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841858 meters # Minimum depth: 2882.701121 meters looking forward 100.000000 meters along route # Maximum depth: 2887.024503 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.701121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783830; longitude = -120.986623; captureRadius = 10; duration = 71; initialDepth = 2842.701121; finalDepth = 2842.459797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.2548779999997 # Actual altitude: 50 # Commanded vehicle depth:2842.701121 # Seafloor depth:-2883.955999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 68.082738 meters # Minimum depth: 2887.024503 meters looking forward 100.000000 meters along route # Maximum depth: 2887.448084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.024503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783183; longitude = -120.986638; captureRadius = 10; duration = 68; initialDepth = 2847.024503; finalDepth = 2842.701121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.2548779999997 # Actual altitude: 50 # Commanded vehicle depth:2847.024503 # Seafloor depth:-2887.240158 # 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 12 # Segment length 31.700353 meters # Minimum depth: 2887.225698 meters looking forward 100.000000 meters along route # Maximum depth: 2887.883141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.225698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782569; longitude = -120.986651; captureRadius = 10; duration = 31; initialDepth = 2847.225698; finalDepth = 2847.024503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.3866069999999 # Actual altitude: 50 # Commanded vehicle depth:2847.225698 # Seafloor depth:-2887.612305 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 59.989577 meters # Minimum depth: 2885.462188 meters looking forward 100.000000 meters along route # Maximum depth: 2887.883141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.462188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782575; longitude = -120.986994; captureRadius = 10; duration = 59; initialDepth = 2845.462188; finalDepth = 2847.225698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.1287200000002 # Actual altitude: 50 # Commanded vehicle depth:2845.462188 # Seafloor depth:-2887.590908 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 58.310070 meters # Minimum depth: 2883.975778 meters looking forward 100.000000 meters along route # Maximum depth: 2886.670656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.975778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782585; longitude = -120.987641; captureRadius = 10; duration = 58; initialDepth = 2843.975778; finalDepth = 2845.462188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.1287200000002 # Actual altitude: 50 # Commanded vehicle depth:2843.975778 # Seafloor depth:-2884.334587 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 65.266542 meters # Minimum depth: 2884.110105 meters looking forward 100.000000 meters along route # Maximum depth: 2885.023193 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.110105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782595; longitude = -120.988271; captureRadius = 10; duration = 65; initialDepth = 2844.110105; finalDepth = 2843.975778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.9130879999998 # Actual altitude: 50 # Commanded vehicle depth:2844.110105 # Seafloor depth:-2885.023193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841787 meters # Minimum depth: 2883.830047 meters looking forward 100.000000 meters along route # Maximum depth: 2884.110105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.830047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783183; longitude = -120.988257; captureRadius = 10; duration = 71; initialDepth = 2843.830047; finalDepth = 2844.110105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.9130879999998 # Actual altitude: 50 # Commanded vehicle depth:2843.830047 # Seafloor depth:-2883.962250 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841794 meters # Minimum depth: 2883.302663 meters looking forward 100.000000 meters along route # Maximum depth: 2883.830047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.302663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783830; longitude = -120.988243; captureRadius = 10; duration = 71; initialDepth = 2843.302663; finalDepth = 2843.830047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.261313 # Actual altitude: 50 # Commanded vehicle depth:2843.302663 # Seafloor depth:-2883.563976 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841801 meters # Minimum depth: 2883.302663 meters looking forward 100.000000 meters along route # Maximum depth: 2884.382081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.302663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.784478; longitude = -120.988228; captureRadius = 10; duration = 71; initialDepth = 2843.302663; finalDepth = 2843.302663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.2718159999999 # Actual altitude: 50 # Commanded vehicle depth:2843.302663 # Seafloor depth:-2883.574479 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841809 meters # Minimum depth: 2880.850155 meters looking forward 100.000000 meters along route # Maximum depth: 2884.382081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.850155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785126; longitude = -120.988214; captureRadius = 10; duration = 71; initialDepth = 2840.850155; finalDepth = 2843.302663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.0379939999998 # Actual altitude: 50 # Commanded vehicle depth:2840.850155 # Seafloor depth:-2883.888149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841816 meters # Minimum depth: 2879.781625 meters looking forward 100.000000 meters along route # Maximum depth: 2880.850155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.781625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785773; longitude = -120.988199; captureRadius = 10; duration = 71; initialDepth = 2839.781625; finalDepth = 2840.850155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.0379939999998 # Actual altitude: 50 # Commanded vehicle depth:2839.781625 # Seafloor depth:-2880.433848 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841824 meters # Minimum depth: 2877.368981 meters looking forward 100.000000 meters along route # Maximum depth: 2879.781625 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.368981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.786421; longitude = -120.988185; captureRadius = 10; duration = 71; initialDepth = 2837.368981; finalDepth = 2839.781625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.0339549999999 # Actual altitude: 50 # Commanded vehicle depth:2837.368981 # Seafloor depth:-2878.402936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841830 meters # Minimum depth: 2877.522450 meters looking forward 100.000000 meters along route # Maximum depth: 2880.220856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.522450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787068; longitude = -120.988170; captureRadius = 10; duration = 71; initialDepth = 2837.522450; finalDepth = 2837.368981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.0339549999999 # Actual altitude: 50 # Commanded vehicle depth:2837.52245 # Seafloor depth:-2878.495528 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841838 meters # Minimum depth: 2877.178418 meters looking forward 100.000000 meters along route # Maximum depth: 2880.220856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.178418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787716; longitude = -120.988156; captureRadius = 10; duration = 71; initialDepth = 2837.178418; finalDepth = 2837.522450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.0142040000001 # Actual altitude: 50 # Commanded vehicle depth:2837.178418 # Seafloor depth:-2880.192622 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841846 meters # Minimum depth: 2875.074860 meters looking forward 100.000000 meters along route # Maximum depth: 2877.178418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.074860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788363; longitude = -120.988141; captureRadius = 10; duration = 71; initialDepth = 2835.074860; finalDepth = 2837.178418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.0142040000001 # Actual altitude: 50 # Commanded vehicle depth:2835.07486 # Seafloor depth:-2875.994753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841853 meters # Minimum depth: 2875.074860 meters looking forward 100.000000 meters along route # Maximum depth: 2876.788507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.074860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789011; longitude = -120.988126; captureRadius = 10; duration = 71; initialDepth = 2835.074860; finalDepth = 2835.074860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.9198929999998 # Actual altitude: 50 # Commanded vehicle depth:2835.07486 # Seafloor depth:-2875.415973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841860 meters # Minimum depth: 2876.788507 meters looking forward 100.000000 meters along route # Maximum depth: 2877.714048 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.788507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789659; longitude = -120.988112; captureRadius = 10; duration = 71; initialDepth = 2836.788507; finalDepth = 2835.074860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.6207029999996 # Actual altitude: 50 # Commanded vehicle depth:2836.788507 # Seafloor depth:-2877.409210 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841867 meters # Minimum depth: 2875.473306 meters looking forward 100.000000 meters along route # Maximum depth: 2877.625857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.473306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790306; longitude = -120.988097; captureRadius = 10; duration = 71; initialDepth = 2835.473306; finalDepth = 2836.788507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.7495859999999 # Actual altitude: 50 # Commanded vehicle depth:2835.473306 # Seafloor depth:-2877.222892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841875 meters # Minimum depth: 2873.054134 meters looking forward 100.000000 meters along route # Maximum depth: 2875.473306 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2833.054134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790954; longitude = -120.988083; captureRadius = 10; duration = 71; initialDepth = 2833.054134; finalDepth = 2835.473306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.7495859999999 # Actual altitude: 50 # Commanded vehicle depth:2833.054134 # Seafloor depth:-2874.373515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841882 meters # Minimum depth: 2873.160570 meters looking forward 100.000000 meters along route # Maximum depth: 2875.514677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2833.160570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791601; longitude = -120.988068; captureRadius = 10; duration = 71; initialDepth = 2833.160570; finalDepth = 2833.054134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.3193810000002 # Actual altitude: 50 # Commanded vehicle depth:2833.16057 # Seafloor depth:-2873.860215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841890 meters # Minimum depth: 2875.270962 meters looking forward 100.000000 meters along route # Maximum depth: 2875.514677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.270962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792249; longitude = -120.988054; captureRadius = 10; duration = 71; initialDepth = 2835.270962; finalDepth = 2833.160570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.6996450000001 # Actual altitude: 50 # Commanded vehicle depth:2835.270962 # Seafloor depth:-2875.417028 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841896 meters # Minimum depth: 2875.006184 meters looking forward 100.000000 meters along route # Maximum depth: 2875.355584 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.006184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792896; longitude = -120.988039; captureRadius = 10; duration = 71; initialDepth = 2835.006184; finalDepth = 2835.270962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.3494000000001 # Actual altitude: 50 # Commanded vehicle depth:2835.006184 # Seafloor depth:-2875.355584 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841904 meters # Minimum depth: 2874.704383 meters looking forward 100.000000 meters along route # Maximum depth: 2875.006184 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.704383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793544; longitude = -120.988025; captureRadius = 10; duration = 71; initialDepth = 2834.704383; finalDepth = 2835.006184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.3494000000001 # Actual altitude: 50 # Commanded vehicle depth:2834.704383 # Seafloor depth:-2874.725826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841912 meters # Minimum depth: 2874.763814 meters looking forward 100.000000 meters along route # Maximum depth: 2875.024126 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.763814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794192; longitude = -120.988010; captureRadius = 10; duration = 71; initialDepth = 2834.763814; finalDepth = 2834.704383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.2603119999999 # Actual altitude: 50 # Commanded vehicle depth:2834.763814 # Seafloor depth:-2875.024126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.451602 meters # Minimum depth: 2873.913195 meters looking forward 100.000000 meters along route # Maximum depth: 2874.763814 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2833.913195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794839; longitude = -120.987995; captureRadius = 10; duration = 62; initialDepth = 2833.913195; finalDepth = 2834.763814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.600015 # Actual altitude: 50 # Commanded vehicle depth:2833.913195 # Seafloor depth:-2874.513210 # 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 28.348430 meters # Minimum depth: 2873.699463 meters looking forward 100.000000 meters along route # Maximum depth: 2874.513210 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2833.699463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795402; longitude = -120.987983; captureRadius = 10; duration = 28; initialDepth = 2833.699463; finalDepth = 2833.913195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.600015 # Actual altitude: 50 # Commanded vehicle depth:2833.699463 # Seafloor depth:-2873.699463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 59.980581 meters # Minimum depth: 2873.699463 meters looking forward 100.000000 meters along route # Maximum depth: 2874.739380 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2833.699463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795407; longitude = -120.988289; captureRadius = 10; duration = 59; initialDepth = 2833.699463; finalDepth = 2833.699463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.6666690000002 # Actual altitude: 50 # Commanded vehicle depth:2833.699463 # Seafloor depth:-2874.366132 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 61.670989 meters # Minimum depth: 2874.047758 meters looking forward 100.000000 meters along route # Maximum depth: 2874.739380 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.047758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795417; longitude = -120.988936; captureRadius = 10; duration = 61; initialDepth = 2834.047758; finalDepth = 2833.699463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.6666690000002 # Actual altitude: 50 # Commanded vehicle depth:2834.047758 # Seafloor depth:-2874.576230 # 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 9 # Segment length 65.266710 meters # Minimum depth: 2874.047758 meters looking forward 100.000000 meters along route # Maximum depth: 2874.632072 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.047758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795427; longitude = -120.989602; captureRadius = 10; duration = 65; initialDepth = 2834.047758; finalDepth = 2834.047758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.528472 # Actual altitude: 50 # Commanded vehicle depth:2834.047758 # Seafloor depth:-2874.091980 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841841 meters # Minimum depth: 2874.632072 meters looking forward 100.000000 meters along route # Maximum depth: 2875.662387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.632072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794839; longitude = -120.989615; captureRadius = 10; duration = 71; initialDepth = 2834.632072; finalDepth = 2834.047758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.5858020000001 # Actual altitude: 50 # Commanded vehicle depth:2834.632072 # Seafloor depth:-2875.217874 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841833 meters # Minimum depth: 2874.513881 meters looking forward 100.000000 meters along route # Maximum depth: 2875.475994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.513881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794192; longitude = -120.989630; captureRadius = 10; duration = 71; initialDepth = 2834.513881; finalDepth = 2834.632072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.5858020000001 # Actual altitude: 50 # Commanded vehicle depth:2834.513881 # Seafloor depth:-2875.059457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841827 meters # Minimum depth: 2874.078384 meters looking forward 100.000000 meters along route # Maximum depth: 2874.513881 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.078384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793544; longitude = -120.989644; captureRadius = 10; duration = 71; initialDepth = 2834.078384; finalDepth = 2834.513881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.545576 # Actual altitude: 50 # Commanded vehicle depth:2834.078384 # Seafloor depth:-2874.420807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841818 meters # Minimum depth: 2871.687230 meters looking forward 100.000000 meters along route # Maximum depth: 2874.078384 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2831.687230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792896; longitude = -120.989659; captureRadius = 10; duration = 71; initialDepth = 2831.687230; finalDepth = 2834.078384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.690443 # Actual altitude: 50 # Commanded vehicle depth:2831.68723 # Seafloor depth:-2873.377673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841812 meters # Minimum depth: 2871.687230 meters looking forward 100.000000 meters along route # Maximum depth: 2876.864292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2831.687230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792249; longitude = -120.989674; captureRadius = 10; duration = 71; initialDepth = 2831.687230; finalDepth = 2831.687230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.690443 # Actual altitude: 50 # Commanded vehicle depth:2831.68723 # Seafloor depth:-2872.598883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841804 meters # Minimum depth: 2876.559113 meters looking forward 100.000000 meters along route # Maximum depth: 2877.684692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.559113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791601; longitude = -120.989688; captureRadius = 10; duration = 71; initialDepth = 2836.559113; finalDepth = 2831.687230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.125579 # Actual altitude: 50 # Commanded vehicle depth:2836.559113 # Seafloor depth:-2877.684692 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841797 meters # Minimum depth: 2876.424740 meters looking forward 100.000000 meters along route # Maximum depth: 2879.667324 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.424740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790954; longitude = -120.989703; captureRadius = 10; duration = 71; initialDepth = 2836.424740; finalDepth = 2836.559113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.125579 # Actual altitude: 50 # Commanded vehicle depth:2836.42474 # Seafloor depth:-2876.424740 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841789 meters # Minimum depth: 2878.950899 meters looking forward 100.000000 meters along route # Maximum depth: 2880.428026 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.950899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790306; longitude = -120.989717; captureRadius = 10; duration = 71; initialDepth = 2838.950899; finalDepth = 2836.424740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.4771270000001 # Actual altitude: 50 # Commanded vehicle depth:2838.950899 # Seafloor depth:-2880.428026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841782 meters # Minimum depth: 2878.757103 meters looking forward 100.000000 meters along route # Maximum depth: 2879.534193 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.757103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789659; longitude = -120.989732; captureRadius = 10; duration = 71; initialDepth = 2838.757103; finalDepth = 2838.950899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.4771270000001 # Actual altitude: 50 # Commanded vehicle depth:2838.757103 # Seafloor depth:-2878.757103 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841775 meters # Minimum depth: 2878.309053 meters looking forward 100.000000 meters along route # Maximum depth: 2879.534193 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.309053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789011; longitude = -120.989746; captureRadius = 10; duration = 71; initialDepth = 2838.309053; finalDepth = 2838.757103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.0905149999999 # Actual altitude: 50 # Commanded vehicle depth:2838.309053 # Seafloor depth:-2879.399568 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841768 meters # Minimum depth: 2877.375436 meters looking forward 100.000000 meters along route # Maximum depth: 2878.309053 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.375436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788363; longitude = -120.989761; captureRadius = 10; duration = 71; initialDepth = 2837.375436; finalDepth = 2838.309053; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.0905149999999 # Actual altitude: 50 # Commanded vehicle depth:2837.375436 # Seafloor depth:-2877.642923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841760 meters # Minimum depth: 2877.027573 meters looking forward 100.000000 meters along route # Maximum depth: 2877.545996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.027573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787716; longitude = -120.989775; captureRadius = 10; duration = 71; initialDepth = 2837.027573; finalDepth = 2837.375436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.518423 # Actual altitude: 50 # Commanded vehicle depth:2837.027573 # Seafloor depth:-2877.545996 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841752 meters # Minimum depth: 2876.983866 meters looking forward 100.000000 meters along route # Maximum depth: 2878.257938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.983866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787068; longitude = -120.989790; captureRadius = 10; duration = 71; initialDepth = 2836.983866; finalDepth = 2837.027573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.518423 # Actual altitude: 50 # Commanded vehicle depth:2836.983866 # Seafloor depth:-2876.983866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841746 meters # Minimum depth: 2878.241535 meters looking forward 100.000000 meters along route # Maximum depth: 2879.142674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.241535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.786421; longitude = -120.989805; captureRadius = 10; duration = 71; initialDepth = 2838.241535; finalDepth = 2836.983866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.5586949999997 # Actual altitude: 50 # Commanded vehicle depth:2838.241535 # Seafloor depth:-2878.800230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841738 meters # Minimum depth: 2879.142674 meters looking forward 100.000000 meters along route # Maximum depth: 2880.310848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.142674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785773; longitude = -120.989819; captureRadius = 10; duration = 71; initialDepth = 2839.142674; finalDepth = 2838.241535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.5586949999997 # Actual altitude: 50 # Commanded vehicle depth:2839.142674 # Seafloor depth:-2879.260696 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841731 meters # Minimum depth: 2880.310848 meters looking forward 100.000000 meters along route # Maximum depth: 2884.312940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.310848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785126; longitude = -120.989834; captureRadius = 10; duration = 71; initialDepth = 2840.310848; finalDepth = 2839.142674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.1005540000001 # Actual altitude: 50 # Commanded vehicle depth:2840.310848 # Seafloor depth:-2881.411402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841723 meters # Minimum depth: 2884.312940 meters looking forward 100.000000 meters along route # Maximum depth: 2885.456125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.312940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.784478; longitude = -120.989848; captureRadius = 10; duration = 71; initialDepth = 2844.312940; finalDepth = 2840.310848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.1008780000002 # Actual altitude: 50 # Commanded vehicle depth:2844.31294 # Seafloor depth:-2885.413818 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841716 meters # Minimum depth: 2884.252829 meters looking forward 100.000000 meters along route # Maximum depth: 2885.101970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.252829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783830; longitude = -120.989863; captureRadius = 10; duration = 71; initialDepth = 2844.252829; finalDepth = 2844.312940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.1008780000002 # Actual altitude: 50 # Commanded vehicle depth:2844.252829 # Seafloor depth:-2884.554669 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 62.452706 meters # Minimum depth: 2884.385283 meters looking forward 100.000000 meters along route # Maximum depth: 2888.101596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.385283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783183; longitude = -120.989877; captureRadius = 10; duration = 62; initialDepth = 2844.385283; finalDepth = 2844.252829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.963679 # Actual altitude: 50 # Commanded vehicle depth:2844.385283 # Seafloor depth:-2885.348962 # 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 8 # Segment length 31.647940 meters # Minimum depth: 2885.348962 meters looking forward 100.000000 meters along route # Maximum depth: 2888.785120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.348962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782620; longitude = -120.989890; captureRadius = 10; duration = 31; initialDepth = 2845.348962; finalDepth = 2844.385283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.1833259999999 # Actual altitude: 50 # Commanded vehicle depth:2845.348962 # Seafloor depth:-2888.532288 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 59.989424 meters # Minimum depth: 2888.532288 meters looking forward 100.000000 meters along route # Maximum depth: 2890.169237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.532288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782625; longitude = -120.990232; captureRadius = 10; duration = 59; initialDepth = 2848.532288; finalDepth = 2845.348962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.1833259999999 # Actual altitude: 50 # Commanded vehicle depth:2848.532288 # Seafloor depth:-2889.213193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 58.362636 meters # Minimum depth: 2889.815538 meters looking forward 100.000000 meters along route # Maximum depth: 2890.276896 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2849.815538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782635; longitude = -120.990879; captureRadius = 10; duration = 58; initialDepth = 2849.815538; finalDepth = 2848.532288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.6809050000002 # Actual altitude: 50 # Commanded vehicle depth:2849.815538 # Seafloor depth:-2890.276896 # 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 59.641231 meters # Minimum depth: 2888.583023 meters looking forward 100.000000 meters along route # Maximum depth: 2890.168762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.583023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782645; longitude = -120.991509; captureRadius = 10; duration = 59; initialDepth = 2848.583023; finalDepth = 2849.815538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.5857389999996 # Actual altitude: 50 # Commanded vehicle depth:2848.583023 # Seafloor depth:-2890.168762 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841646 meters # Minimum depth: 2884.334425 meters looking forward 100.000000 meters along route # Maximum depth: 2888.583023 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.334425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783183; longitude = -120.991497; captureRadius = 10; duration = 71; initialDepth = 2844.334425; finalDepth = 2848.583023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.7174209999998 # Actual altitude: 50 # Commanded vehicle depth:2844.334425 # Seafloor depth:-2887.051846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841653 meters # Minimum depth: 2883.454644 meters looking forward 100.000000 meters along route # Maximum depth: 2884.334425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.454644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783830; longitude = -120.991482; captureRadius = 10; duration = 71; initialDepth = 2843.454644; finalDepth = 2844.334425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.7174209999998 # Actual altitude: 50 # Commanded vehicle depth:2843.454644 # Seafloor depth:-2883.861847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841660 meters # Minimum depth: 2881.793508 meters looking forward 100.000000 meters along route # Maximum depth: 2883.454644 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.793508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.784478; longitude = -120.991468; captureRadius = 10; duration = 71; initialDepth = 2841.793508; finalDepth = 2843.454644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.038067 # Actual altitude: 50 # Commanded vehicle depth:2841.793508 # Seafloor depth:-2882.831575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841667 meters # Minimum depth: 2881.793508 meters looking forward 100.000000 meters along route # Maximum depth: 2882.540905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.793508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785126; longitude = -120.991453; captureRadius = 10; duration = 71; initialDepth = 2841.793508; finalDepth = 2841.793508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.038067 # Actual altitude: 50 # Commanded vehicle depth:2841.793508 # Seafloor depth:-2881.961125 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841675 meters # Minimum depth: 2881.365412 meters looking forward 100.000000 meters along route # Maximum depth: 2882.570800 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.365412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785773; longitude = -120.991439; captureRadius = 10; duration = 71; initialDepth = 2841.365412; finalDepth = 2841.793508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.2053879999999 # Actual altitude: 50 # Commanded vehicle depth:2841.365412 # Seafloor depth:-2882.570800 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841682 meters # Minimum depth: 2878.710500 meters looking forward 100.000000 meters along route # Maximum depth: 2881.365412 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.710500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.786421; longitude = -120.991424; captureRadius = 10; duration = 71; initialDepth = 2838.710500; finalDepth = 2841.365412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.7053309999997 # Actual altitude: 50 # Commanded vehicle depth:2838.7105 # Seafloor depth:-2880.415831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841690 meters # Minimum depth: 2877.984867 meters looking forward 100.000000 meters along route # Maximum depth: 2878.710500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.984867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787068; longitude = -120.991410; captureRadius = 10; duration = 71; initialDepth = 2837.984867; finalDepth = 2838.710500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.7053309999997 # Actual altitude: 50 # Commanded vehicle depth:2837.984867 # Seafloor depth:-2878.239776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841697 meters # Minimum depth: 2877.984867 meters looking forward 100.000000 meters along route # Maximum depth: 2878.905291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.984867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787716; longitude = -120.991395; captureRadius = 10; duration = 71; initialDepth = 2837.984867; finalDepth = 2837.984867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.2549089999998 # Actual altitude: 50 # Commanded vehicle depth:2837.984867 # Seafloor depth:-2878.141934 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841704 meters # Minimum depth: 2878.905291 meters looking forward 100.000000 meters along route # Maximum depth: 2879.480057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.905291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788363; longitude = -120.991381; captureRadius = 10; duration = 71; initialDepth = 2838.905291; finalDepth = 2837.984867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.4528129999999 # Actual altitude: 50 # Commanded vehicle depth:2838.905291 # Seafloor depth:-2879.358104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841711 meters # Minimum depth: 2878.902513 meters looking forward 100.000000 meters along route # Maximum depth: 2879.236375 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.902513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789011; longitude = -120.991366; captureRadius = 10; duration = 71; initialDepth = 2838.902513; finalDepth = 2838.905291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.4528129999999 # Actual altitude: 50 # Commanded vehicle depth:2838.902513 # Seafloor depth:-2878.902513 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841719 meters # Minimum depth: 2877.545487 meters looking forward 100.000000 meters along route # Maximum depth: 2879.022158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.545487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789659; longitude = -120.991352; captureRadius = 10; duration = 71; initialDepth = 2837.545487; finalDepth = 2838.902513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.197635 # Actual altitude: 50 # Commanded vehicle depth:2837.545487 # Seafloor depth:-2878.743122 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841726 meters # Minimum depth: 2877.545487 meters looking forward 100.000000 meters along route # Maximum depth: 2879.258652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.545487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790306; longitude = -120.991337; captureRadius = 10; duration = 71; initialDepth = 2837.545487; finalDepth = 2837.545487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.197635 # Actual altitude: 50 # Commanded vehicle depth:2837.545487 # Seafloor depth:-2877.604245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841734 meters # Minimum depth: 2876.458430 meters looking forward 100.000000 meters along route # Maximum depth: 2879.258652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.458430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790954; longitude = -120.991323; captureRadius = 10; duration = 71; initialDepth = 2836.458430; finalDepth = 2837.545487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.7366400000001 # Actual altitude: 50 # Commanded vehicle depth:2836.45843 # Seafloor depth:-2879.195070 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841741 meters # Minimum depth: 2874.977699 meters looking forward 100.000000 meters along route # Maximum depth: 2877.016782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.977699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791601; longitude = -120.991308; captureRadius = 10; duration = 71; initialDepth = 2834.977699; finalDepth = 2836.458430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.7366400000001 # Actual altitude: 50 # Commanded vehicle depth:2834.977699 # Seafloor depth:-2875.761412 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841748 meters # Minimum depth: 2874.852533 meters looking forward 100.000000 meters along route # Maximum depth: 2874.977699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.852533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792249; longitude = -120.991294; captureRadius = 10; duration = 71; initialDepth = 2834.852533; finalDepth = 2834.977699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.7837129999998 # Actual altitude: 50 # Commanded vehicle depth:2834.852533 # Seafloor depth:-2874.907545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841756 meters # Minimum depth: 2874.934948 meters looking forward 100.000000 meters along route # Maximum depth: 2875.860160 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.934948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792896; longitude = -120.991279; captureRadius = 10; duration = 71; initialDepth = 2834.934948; finalDepth = 2834.852533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.5128009999999 # Actual altitude: 50 # Commanded vehicle depth:2834.934948 # Seafloor depth:-2875.447749 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841762 meters # Minimum depth: 2875.630663 meters looking forward 100.000000 meters along route # Maximum depth: 2875.886228 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.630663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793544; longitude = -120.991264; captureRadius = 10; duration = 71; initialDepth = 2835.630663; finalDepth = 2834.934948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.5128009999999 # Actual altitude: 50 # Commanded vehicle depth:2835.630663 # Seafloor depth:-2875.668024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841771 meters # Minimum depth: 2875.886228 meters looking forward 100.000000 meters along route # Maximum depth: 2876.114882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.886228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794192; longitude = -120.991250; captureRadius = 10; duration = 71; initialDepth = 2835.886228; finalDepth = 2835.630663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.228654 # Actual altitude: 50 # Commanded vehicle depth:2835.886228 # Seafloor depth:-2876.114882 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 68.079455 meters # Minimum depth: 2874.760068 meters looking forward 100.000000 meters along route # Maximum depth: 2875.969696 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.760068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794839; longitude = -120.991235; captureRadius = 10; duration = 68; initialDepth = 2834.760068; finalDepth = 2835.886228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.9600340000002 # Actual altitude: 50 # Commanded vehicle depth:2834.760068 # Seafloor depth:-2875.720102 # 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 28.251038 meters # Minimum depth: 2874.636475 meters looking forward 100.000000 meters along route # Maximum depth: 2875.720102 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.636475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795453; longitude = -120.991222; captureRadius = 10; duration = 28; initialDepth = 2834.636475; finalDepth = 2834.760068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.9600340000002 # Actual altitude: 50 # Commanded vehicle depth:2834.636475 # Seafloor depth:-2874.636475 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 59.980428 meters # Minimum depth: 2874.636475 meters looking forward 100.000000 meters along route # Maximum depth: 2876.032756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.636475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795458; longitude = -120.991527; captureRadius = 10; duration = 59; initialDepth = 2834.636475; finalDepth = 2834.636475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.8022900000001 # Actual altitude: 50 # Commanded vehicle depth:2834.636475 # Seafloor depth:-2875.438765 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 61.768534 meters # Minimum depth: 2876.032756 meters looking forward 100.000000 meters along route # Maximum depth: 2881.880533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.032756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795468; longitude = -120.992174; captureRadius = 10; duration = 61; initialDepth = 2836.032756; finalDepth = 2834.636475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.8667399999999 # Actual altitude: 50 # Commanded vehicle depth:2836.032756 # Seafloor depth:-2876.899496 # 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 5 # Segment length 70.889839 meters # Minimum depth: 2879.147878 meters looking forward 100.000000 meters along route # Maximum depth: 2881.880533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.147878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795478; longitude = -120.992841; captureRadius = 10; duration = 70; initialDepth = 2839.147878; finalDepth = 2836.032756; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.0951639999998 # Actual altitude: 50 # Commanded vehicle depth:2839.147878 # Seafloor depth:-2881.243042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841700 meters # Minimum depth: 2879.147878 meters looking forward 100.000000 meters along route # Maximum depth: 2886.049219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.147878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794839; longitude = -120.992855; captureRadius = 10; duration = 71; initialDepth = 2839.147878; finalDepth = 2839.147878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.0951639999998 # Actual altitude: 50 # Commanded vehicle depth:2839.147878 # Seafloor depth:-2880.461926 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841692 meters # Minimum depth: 2880.816368 meters looking forward 100.000000 meters along route # Maximum depth: 2886.096830 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.816368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794192; longitude = -120.992870; captureRadius = 10; duration = 71; initialDepth = 2840.816368; finalDepth = 2839.147878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2804620000002 # Actual altitude: 50 # Commanded vehicle depth:2840.816368 # Seafloor depth:-2886.096830 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841685 meters # Minimum depth: 2879.160482 meters looking forward 100.000000 meters along route # Maximum depth: 2880.816368 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.160482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793544; longitude = -120.992884; captureRadius = 10; duration = 71; initialDepth = 2839.160482; finalDepth = 2840.816368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2804620000002 # Actual altitude: 50 # Commanded vehicle depth:2839.160482 # Seafloor depth:-2879.423109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841678 meters # Minimum depth: 2879.719202 meters looking forward 100.000000 meters along route # Maximum depth: 2883.068438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.719202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792896; longitude = -120.992899; captureRadius = 10; duration = 71; initialDepth = 2839.719202; finalDepth = 2839.160482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.2626270000001 # Actual altitude: 50 # Commanded vehicle depth:2839.719202 # Seafloor depth:-2879.935054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841671 meters # Minimum depth: 2883.068438 meters looking forward 100.000000 meters along route # Maximum depth: 2893.626540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.068438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792249; longitude = -120.992913; captureRadius = 10; duration = 71; initialDepth = 2843.068438; finalDepth = 2839.719202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2499610000004 # Actual altitude: 50 # Commanded vehicle depth:2843.068438 # Seafloor depth:-2888.318399 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841663 meters # Minimum depth: 2882.531172 meters looking forward 100.000000 meters along route # Maximum depth: 2893.626540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.531172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791601; longitude = -120.992928; captureRadius = 10; duration = 71; initialDepth = 2842.531172; finalDepth = 2843.068438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.362952 # Actual altitude: 50 # Commanded vehicle depth:2842.531172 # Seafloor depth:-2890.894124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841655 meters # Minimum depth: 2877.401544 meters looking forward 100.000000 meters along route # Maximum depth: 2882.531172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.401544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790954; longitude = -120.992943; captureRadius = 10; duration = 71; initialDepth = 2837.401544; finalDepth = 2842.531172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.362952 # Actual altitude: 50 # Commanded vehicle depth:2837.401544 # Seafloor depth:-2879.577754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841648 meters # Minimum depth: 2877.401544 meters looking forward 100.000000 meters along route # Maximum depth: 2879.556778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.401544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790306; longitude = -120.992957; captureRadius = 10; duration = 71; initialDepth = 2837.401544; finalDepth = 2837.401544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.1762100000001 # Actual altitude: 50 # Commanded vehicle depth:2837.401544 # Seafloor depth:-2877.718295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841641 meters # Minimum depth: 2879.556778 meters looking forward 100.000000 meters along route # Maximum depth: 2880.583683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.556778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789659; longitude = -120.992972; captureRadius = 10; duration = 71; initialDepth = 2839.556778; finalDepth = 2837.401544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.7361599999999 # Actual altitude: 50 # Commanded vehicle depth:2839.556778 # Seafloor depth:-2880.292938 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841634 meters # Minimum depth: 2880.218287 meters looking forward 100.000000 meters along route # Maximum depth: 2880.717621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.218287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789011; longitude = -120.992986; captureRadius = 10; duration = 71; initialDepth = 2840.218287; finalDepth = 2839.556778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.7361599999999 # Actual altitude: 50 # Commanded vehicle depth:2840.218287 # Seafloor depth:-2880.218287 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841626 meters # Minimum depth: 2880.717621 meters looking forward 100.000000 meters along route # Maximum depth: 2881.666028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.717621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788363; longitude = -120.993001; captureRadius = 10; duration = 71; initialDepth = 2840.717621; finalDepth = 2840.218287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.5285980000003 # Actual altitude: 50 # Commanded vehicle depth:2840.717621 # Seafloor depth:-2881.246219 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841619 meters # Minimum depth: 2881.012514 meters looking forward 100.000000 meters along route # Maximum depth: 2881.666028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.012514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787716; longitude = -120.993015; captureRadius = 10; duration = 71; initialDepth = 2841.012514; finalDepth = 2840.717621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.5285980000003 # Actual altitude: 50 # Commanded vehicle depth:2841.012514 # Seafloor depth:-2881.440653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841612 meters # Minimum depth: 2881.012514 meters looking forward 100.000000 meters along route # Maximum depth: 2882.954462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.012514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787068; longitude = -120.993030; captureRadius = 10; duration = 71; initialDepth = 2841.012514; finalDepth = 2841.012514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.4281390000001 # Actual altitude: 50 # Commanded vehicle depth:2841.012514 # Seafloor depth:-2881.323434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841604 meters # Minimum depth: 2882.779986 meters looking forward 100.000000 meters along route # Maximum depth: 2883.401016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.779986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.786421; longitude = -120.993044; captureRadius = 10; duration = 71; initialDepth = 2842.779986; finalDepth = 2841.012514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.6210299999998 # Actual altitude: 50 # Commanded vehicle depth:2842.779986 # Seafloor depth:-2883.401016 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841597 meters # Minimum depth: 2882.063777 meters looking forward 100.000000 meters along route # Maximum depth: 2882.779986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.063777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785773; longitude = -120.993059; captureRadius = 10; duration = 71; initialDepth = 2842.063777; finalDepth = 2842.779986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.6210299999998 # Actual altitude: 50 # Commanded vehicle depth:2842.063777 # Seafloor depth:-2882.221743 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841590 meters # Minimum depth: 2882.331922 meters looking forward 100.000000 meters along route # Maximum depth: 2884.678034 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.331922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785126; longitude = -120.993073; captureRadius = 10; duration = 71; initialDepth = 2842.331922; finalDepth = 2842.063777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.7265900000002 # Actual altitude: 50 # Commanded vehicle depth:2842.331922 # Seafloor depth:-2883.058512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841582 meters # Minimum depth: 2884.164604 meters looking forward 100.000000 meters along route # Maximum depth: 2884.709028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.164604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.784478; longitude = -120.993088; captureRadius = 10; duration = 71; initialDepth = 2844.164604; finalDepth = 2842.331922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.7265900000002 # Actual altitude: 50 # Commanded vehicle depth:2844.164604 # Seafloor depth:-2884.709028 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841575 meters # Minimum depth: 2884.164604 meters looking forward 100.000000 meters along route # Maximum depth: 2884.694109 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.164604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783830; longitude = -120.993102; captureRadius = 10; duration = 71; initialDepth = 2844.164604; finalDepth = 2844.164604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.5444240000002 # Actual altitude: 50 # Commanded vehicle depth:2844.164604 # Seafloor depth:-2884.260531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 56.832117 meters # Minimum depth: 2884.694109 meters looking forward 100.000000 meters along route # Maximum depth: 2886.116548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.694109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783183; longitude = -120.993117; captureRadius = 10; duration = 56; initialDepth = 2844.694109; finalDepth = 2844.164604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.0959269999998 # Actual altitude: 50 # Commanded vehicle depth:2844.694109 # Seafloor depth:-2884.746299 # 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 31.594761 meters # Minimum depth: 2884.746299 meters looking forward 100.000000 meters along route # Maximum depth: 2886.930420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.746299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782671; longitude = -120.993128; captureRadius = 10; duration = 31; initialDepth = 2844.746299; finalDepth = 2844.694109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.1841210000002 # Actual altitude: 50 # Commanded vehicle depth:2844.746299 # Seafloor depth:-2886.930420 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 59.989271 meters # Minimum depth: 2886.450077 meters looking forward 100.000000 meters along route # Maximum depth: 2886.930420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.450077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782676; longitude = -120.993469; captureRadius = 10; duration = 59; initialDepth = 2846.450077; finalDepth = 2844.746299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.1841210000002 # Actual altitude: 50 # Commanded vehicle depth:2846.450077 # Seafloor depth:-2886.450077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 58.415968 meters # Minimum depth: 2886.478626 meters looking forward 100.000000 meters along route # Maximum depth: 2888.353300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.478626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782686; longitude = -120.994117; captureRadius = 10; duration = 58; initialDepth = 2846.478626; finalDepth = 2846.450077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.9379589999999 # Actual altitude: 50 # Commanded vehicle depth:2846.478626 # Seafloor depth:-2887.416585 # 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 3 # Segment length 54.025364 meters # Minimum depth: 2887.947938 meters looking forward 100.000000 meters along route # Maximum depth: 2888.565796 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.947938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.782696; longitude = -120.994747; captureRadius = 10; duration = 54; initialDepth = 2847.947938; finalDepth = 2846.478626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.9379589999999 # Actual altitude: 50 # Commanded vehicle depth:2847.947938 # Seafloor depth:-2888.565796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841504 meters # Minimum depth: 2887.800899 meters looking forward 100.000000 meters along route # Maximum depth: 2888.314159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.800899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783183; longitude = -120.994737; captureRadius = 10; duration = 71; initialDepth = 2847.800899; finalDepth = 2847.947938; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.6178580000001 # Actual altitude: 50 # Commanded vehicle depth:2847.800899 # Seafloor depth:-2888.314159 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841512 meters # Minimum depth: 2885.112188 meters looking forward 100.000000 meters along route # Maximum depth: 2887.800899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.112188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783830; longitude = -120.994722; captureRadius = 10; duration = 71; initialDepth = 2845.112188; finalDepth = 2847.800899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.6557600000001 # Actual altitude: 50 # Commanded vehicle depth:2845.112188 # Seafloor depth:-2886.767948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841519 meters # Minimum depth: 2883.789450 meters looking forward 100.000000 meters along route # Maximum depth: 2885.112188 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.789450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.784478; longitude = -120.994708; captureRadius = 10; duration = 71; initialDepth = 2843.789450; finalDepth = 2845.112188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.6557600000001 # Actual altitude: 50 # Commanded vehicle depth:2843.78945 # Seafloor depth:-2884.380486 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841527 meters # Minimum depth: 2883.789450 meters looking forward 100.000000 meters along route # Maximum depth: 2885.512411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.789450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785126; longitude = -120.994693; captureRadius = 10; duration = 71; initialDepth = 2843.789450; finalDepth = 2843.789450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.5916069999998 # Actual altitude: 50 # Commanded vehicle depth:2843.78945 # Seafloor depth:-2884.381057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841533 meters # Minimum depth: 2883.090015 meters looking forward 100.000000 meters along route # Maximum depth: 2885.512411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.090015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785773; longitude = -120.994679; captureRadius = 10; duration = 71; initialDepth = 2843.090015; finalDepth = 2843.789450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.9206749999998 # Actual altitude: 50 # Commanded vehicle depth:2843.090015 # Seafloor depth:-2885.010690 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841542 meters # Minimum depth: 2882.698912 meters looking forward 100.000000 meters along route # Maximum depth: 2883.551332 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.698912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.786421; longitude = -120.994664; captureRadius = 10; duration = 71; initialDepth = 2842.698912; finalDepth = 2843.090015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.9206749999998 # Actual altitude: 50 # Commanded vehicle depth:2842.698912 # Seafloor depth:-2882.698912 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841548 meters # Minimum depth: 2883.551332 meters looking forward 100.000000 meters along route # Maximum depth: 2884.731225 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.551332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787068; longitude = -120.994650; captureRadius = 10; duration = 71; initialDepth = 2843.551332; finalDepth = 2842.698912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.6426499999998 # Actual altitude: 50 # Commanded vehicle depth:2843.551332 # Seafloor depth:-2884.193982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841556 meters # Minimum depth: 2884.199356 meters looking forward 100.000000 meters along route # Maximum depth: 2884.840290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.199356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787716; longitude = -120.994635; captureRadius = 10; duration = 71; initialDepth = 2844.199356; finalDepth = 2843.551332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.6426499999998 # Actual altitude: 50 # Commanded vehicle depth:2844.199356 # Seafloor depth:-2884.840290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 71.841563 meters # Minimum depth: 2882.669569 meters looking forward 100.000000 meters along route # Maximum depth: 2884.199356 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.669569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788363; longitude = -120.994621; captureRadius = 10; duration = 71; initialDepth = 2842.669569; finalDepth = 2844.199356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.9039290000001 # Actual altitude: 50 # Commanded vehicle depth:2842.669569 # Seafloor depth:-2883.573498 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841571 meters # Minimum depth: 2882.649117 meters looking forward 100.000000 meters along route # Maximum depth: 2883.360263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.649117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789011; longitude = -120.994606; captureRadius = 10; duration = 71; initialDepth = 2842.649117; finalDepth = 2842.669569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.9039290000001 # Actual altitude: 50 # Commanded vehicle depth:2842.649117 # Seafloor depth:-2882.649117 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841577 meters # Minimum depth: 2882.992273 meters looking forward 100.000000 meters along route # Maximum depth: 2883.502395 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.992273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789659; longitude = -120.994591; captureRadius = 10; duration = 71; initialDepth = 2842.992273; finalDepth = 2842.649117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.5101220000001 # Actual altitude: 50 # Commanded vehicle depth:2842.992273 # Seafloor depth:-2883.502395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841586 meters # Minimum depth: 2882.762330 meters looking forward 100.000000 meters along route # Maximum depth: 2883.483541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.762330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790306; longitude = -120.994577; captureRadius = 10; duration = 71; initialDepth = 2842.762330; finalDepth = 2842.992273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.5101220000001 # Actual altitude: 50 # Commanded vehicle depth:2842.76233 # Seafloor depth:-2882.762330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841592 meters # Minimum depth: 2882.292184 meters looking forward 100.000000 meters along route # Maximum depth: 2883.799782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.292184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790954; longitude = -120.994562; captureRadius = 10; duration = 71; initialDepth = 2842.292184; finalDepth = 2842.762330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.5075980000001 # Actual altitude: 50 # Commanded vehicle depth:2842.292184 # Seafloor depth:-2883.799782 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841600 meters # Minimum depth: 2880.915707 meters looking forward 100.000000 meters along route # Maximum depth: 2883.011826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.915707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791601; longitude = -120.994548; captureRadius = 10; duration = 71; initialDepth = 2840.915707; finalDepth = 2842.292184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.5075980000001 # Actual altitude: 50 # Commanded vehicle depth:2840.915707 # Seafloor depth:-2882.180511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841607 meters # Minimum depth: 2880.915707 meters looking forward 100.000000 meters along route # Maximum depth: 2883.446904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.915707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792249; longitude = -120.994533; captureRadius = 10; duration = 71; initialDepth = 2840.915707; finalDepth = 2840.915707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.2648039999999 # Actual altitude: 50 # Commanded vehicle depth:2840.915707 # Seafloor depth:-2881.131680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841615 meters # Minimum depth: 2883.446904 meters looking forward 100.000000 meters along route # Maximum depth: 2884.699359 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.446904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792896; longitude = -120.994519; captureRadius = 10; duration = 71; initialDepth = 2843.446904; finalDepth = 2840.915707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.7191200000002 # Actual altitude: 50 # Commanded vehicle depth:2843.446904 # Seafloor depth:-2884.166024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841622 meters # Minimum depth: 2884.699359 meters looking forward 100.000000 meters along route # Maximum depth: 2885.283513 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.699359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793544; longitude = -120.994504; captureRadius = 10; duration = 71; initialDepth = 2844.699359; finalDepth = 2843.446904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.7191200000002 # Actual altitude: 50 # Commanded vehicle depth:2844.699359 # Seafloor depth:-2885.036062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841629 meters # Minimum depth: 2883.435070 meters looking forward 100.000000 meters along route # Maximum depth: 2885.283513 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.435070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794192; longitude = -120.994490; captureRadius = 10; duration = 71; initialDepth = 2843.435070; finalDepth = 2844.699359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.574693 # Actual altitude: 50 # Commanded vehicle depth:2843.43507 # Seafloor depth:-2885.009763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 73.697861 meters # Minimum depth: 2881.874717 meters looking forward 100.000000 meters along route # Maximum depth: 2883.435070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.874717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794839; longitude = -120.994475; captureRadius = 10; duration = 73; initialDepth = 2841.874717; finalDepth = 2843.435070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.574693 # Actual altitude: 50 # Commanded vehicle depth:2841.874717 # Seafloor depth:-2882.963005 # 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 28.152881 meters # Minimum depth: 2881.142517 meters looking forward 100.000000 meters along route # Maximum depth: 2882.813451 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.142517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795503; longitude = -120.994461; captureRadius = 10; duration = 28; initialDepth = 2841.142517; finalDepth = 2841.874717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.0882879999999 # Actual altitude: 50 # Commanded vehicle depth:2841.142517 # Seafloor depth:-2881.142517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 59.980275 meters # Minimum depth: 2881.142517 meters looking forward 100.000000 meters along route # Maximum depth: 2885.557243 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.142517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795508; longitude = -120.994764; captureRadius = 10; duration = 59; initialDepth = 2841.142517; finalDepth = 2841.142517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.1671579999997 # Actual altitude: 50 # Commanded vehicle depth:2841.142517 # Seafloor depth:-2883.309675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 61.866844 meters # Minimum depth: 2885.557243 meters looking forward 100.000000 meters along route # Maximum depth: 2889.408360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.557243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795518; longitude = -120.995412; captureRadius = 10; duration = 61; initialDepth = 2845.557243; finalDepth = 2841.142517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.1671579999997 # Actual altitude: 50 # Commanded vehicle depth:2845.557243 # Seafloor depth:-2886.711872 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 4.661955 meters # Minimum depth: 2885.557243 meters looking forward 100.000000 meters along route # Maximum depth: 2890.172913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.557243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795529; longitude = -120.996080; captureRadius = 10; duration = 4; initialDepth = 2845.557243; finalDepth = 2845.557243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.6156699999997 # Actual altitude: 50 # Commanded vehicle depth:2845.557243 # Seafloor depth:-2890.172913 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841566 meters # Minimum depth: 2888.721421 meters looking forward 100.000000 meters along route # Maximum depth: 2890.172913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.721421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795487; longitude = -120.996081; captureRadius = 10; duration = 71; initialDepth = 2848.721421; finalDepth = 2845.557243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.6156699999997 # Actual altitude: 50 # Commanded vehicle depth:2848.721421 # Seafloor depth:-2889.304885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841559 meters # Minimum depth: 2888.756925 meters looking forward 100.000000 meters along route # Maximum depth: 2890.809408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.756925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794839; longitude = -120.996095; captureRadius = 10; duration = 71; initialDepth = 2848.756925; finalDepth = 2848.721421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.5834639999998 # Actual altitude: 50 # Commanded vehicle depth:2848.756925 # Seafloor depth:-2889.303812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841552 meters # Minimum depth: 2890.809408 meters looking forward 100.000000 meters along route # Maximum depth: 2891.545392 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2850.809408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794192; longitude = -120.996110; captureRadius = 10; duration = 71; initialDepth = 2850.809408; finalDepth = 2848.756925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.6014019999998 # Actual altitude: 50 # Commanded vehicle depth:2850.809408 # Seafloor depth:-2891.410810 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841544 meters # Minimum depth: 2888.987184 meters looking forward 100.000000 meters along route # Maximum depth: 2891.118660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.987184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793544; longitude = -120.996124; captureRadius = 10; duration = 71; initialDepth = 2848.987184; finalDepth = 2850.809408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.4541439999998 # Actual altitude: 50 # Commanded vehicle depth:2848.987184 # Seafloor depth:-2890.441328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841536 meters # Minimum depth: 2888.987184 meters looking forward 100.000000 meters along route # Maximum depth: 2890.845826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.987184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792896; longitude = -120.996139; captureRadius = 10; duration = 71; initialDepth = 2848.987184; finalDepth = 2848.987184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.4541439999998 # Actual altitude: 50 # Commanded vehicle depth:2848.987184 # Seafloor depth:-2889.027342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841530 meters # Minimum depth: 2890.845826 meters looking forward 100.000000 meters along route # Maximum depth: 2893.826772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2850.845826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792249; longitude = -120.996153; captureRadius = 10; duration = 71; initialDepth = 2850.845826; finalDepth = 2848.987184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.0803839999999 # Actual altitude: 50 # Commanded vehicle depth:2850.845826 # Seafloor depth:-2891.926210 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841522 meters # Minimum depth: 2893.826772 meters looking forward 100.000000 meters along route # Maximum depth: 2894.930151 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2853.826772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.791601; longitude = -120.996168; captureRadius = 10; duration = 71; initialDepth = 2853.826772; finalDepth = 2850.845826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.0803839999999 # Actual altitude: 50 # Commanded vehicle depth:2853.826772 # Seafloor depth:-2894.661438 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841515 meters # Minimum depth: 2888.745566 meters looking forward 100.000000 meters along route # Maximum depth: 2894.529286 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.745566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790954; longitude = -120.996182; captureRadius = 10; duration = 71; initialDepth = 2848.745566; finalDepth = 2853.826772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.951043 # Actual altitude: 50 # Commanded vehicle depth:2848.745566 # Seafloor depth:-2892.696609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841507 meters # Minimum depth: 2888.653330 meters looking forward 100.000000 meters along route # Maximum depth: 2890.488909 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.653330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.790306; longitude = -120.996197; captureRadius = 10; duration = 71; initialDepth = 2848.653330; finalDepth = 2848.745566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.951043 # Actual altitude: 50 # Commanded vehicle depth:2848.65333 # Seafloor depth:-2888.653330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841500 meters # Minimum depth: 2890.488909 meters looking forward 100.000000 meters along route # Maximum depth: 2897.132796 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2850.488909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789659; longitude = -120.996211; captureRadius = 10; duration = 71; initialDepth = 2850.488909; finalDepth = 2848.653330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.2555389999998 # Actual altitude: 50 # Commanded vehicle depth:2850.488909 # Seafloor depth:-2892.744448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841493 meters # Minimum depth: 2889.621277 meters looking forward 100.000000 meters along route # Maximum depth: 2897.132796 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2849.621277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.789011; longitude = -120.996226; captureRadius = 10; duration = 71; initialDepth = 2849.621277; finalDepth = 2850.488909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.7632589999998 # Actual altitude: 50 # Commanded vehicle depth:2849.621277 # Seafloor depth:-2896.384536 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841485 meters # Minimum depth: 2886.980088 meters looking forward 100.000000 meters along route # Maximum depth: 2889.621277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.980088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.788363; longitude = -120.996240; captureRadius = 10; duration = 71; initialDepth = 2846.980088; finalDepth = 2849.621277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.7632589999998 # Actual altitude: 50 # Commanded vehicle depth:2846.980088 # Seafloor depth:-2887.404207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841478 meters # Minimum depth: 2887.236144 meters looking forward 100.000000 meters along route # Maximum depth: 2888.072453 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.236144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787716; longitude = -120.996255; captureRadius = 10; duration = 71; initialDepth = 2847.236144; finalDepth = 2846.980088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.8363090000003 # Actual altitude: 50 # Commanded vehicle depth:2847.236144 # Seafloor depth:-2888.072453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841471 meters # Minimum depth: 2886.428343 meters looking forward 100.000000 meters along route # Maximum depth: 2887.236144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.428343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.787068; longitude = -120.996269; captureRadius = 10; duration = 71; initialDepth = 2846.428343; finalDepth = 2847.236144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.8363090000003 # Actual altitude: 50 # Commanded vehicle depth:2846.428343 # Seafloor depth:-2886.604849 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841464 meters # Minimum depth: 2886.271842 meters looking forward 100.000000 meters along route # Maximum depth: 2886.760903 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.271842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.786421; longitude = -120.996284; captureRadius = 10; duration = 71; initialDepth = 2846.271842; finalDepth = 2846.428343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.4890609999998 # Actual altitude: 50 # Commanded vehicle depth:2846.271842 # Seafloor depth:-2886.760903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841456 meters # Minimum depth: 2885.664673 meters looking forward 100.000000 meters along route # Maximum depth: 2886.271842 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.664673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785773; longitude = -120.996298; captureRadius = 10; duration = 71; initialDepth = 2845.664673; finalDepth = 2846.271842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.4890609999998 # Actual altitude: 50 # Commanded vehicle depth:2845.664673 # Seafloor depth:-2886.076102 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841448 meters # Minimum depth: 2885.384057 meters looking forward 100.000000 meters along route # Maximum depth: 2885.735807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.384057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.785126; longitude = -120.996313; captureRadius = 10; duration = 71; initialDepth = 2845.384057; finalDepth = 2845.664673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.4114289999998 # Actual altitude: 50 # Commanded vehicle depth:2845.384057 # Seafloor depth:-2885.462267 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841442 meters # Minimum depth: 2885.735807 meters looking forward 100.000000 meters along route # Maximum depth: 2886.679640 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.735807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.784478; longitude = -120.996327; captureRadius = 10; duration = 71; initialDepth = 2845.735807; finalDepth = 2845.384057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.5084919999999 # Actual altitude: 50 # Commanded vehicle depth:2845.735807 # Seafloor depth:-2886.244299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 71.841434 meters # Minimum depth: 2886.679640 meters looking forward 100.000000 meters along route # Maximum depth: 2886.917938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.679640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783830; longitude = -120.996342; captureRadius = 10; duration = 71; initialDepth = 2846.679640; finalDepth = 2845.735807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.5084919999999 # Actual altitude: 50 # Commanded vehicle depth:2846.67964 # Seafloor depth:-2886.714272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 51.220971 meters # Minimum depth: 2886.815239 meters looking forward 100.000000 meters along route # Maximum depth: 2887.455133 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3000.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.815239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.783183; longitude = -120.996356; captureRadius = 10; duration = 51; initialDepth = 2846.815239; finalDepth = 2846.679640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.187426 # Actual altitude: 50 # Commanded vehicle depth:2846.815239 # Seafloor depth:-2887.002665 # 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: 41.0652540000001 # Actual altitude: 50 # Commanded vehicle depth:2846.815239 # Seafloor depth:-2887.880493 # 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 = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 500.000000 meters # Minimum depth: 2886.815239 meters looking forward 100.000000 meters along route # Maximum depth: 2887.880493 meters looking forward 100.000000 meters along route # Vehicle depth: 2846.815239 meters behavior waypoint { latitude = 33.782721; longitude = -120.996367; captureRadius = 10; duration = 600; depth = 2846.815239; speed = 1.500000; } behavior waypoint { latitude = 33.782721; longitude = -120.996367; captureRadius = 10; duration = 120; depth = 2846.815239; speed = 0.0; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 2846.815239 meters set by local depth and desired altitude behavior descend { duration = 15061; 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: 2886.815239 meters looking forward 100.000000 meters along route # Maximum depth: 2887.880493 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 33.782721; longitude = -120.996367; captureRadius = 10; duration = 500; depth = 50.000000; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 359.956176; 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 = 359.956176; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 1; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 160.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.00; MB_Bottom_Detect_Filter_Max_Range = 160.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; } # ####################################################### #######################################################