# 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: Hueneme_1v3.rte # Mission File: Hueneme_1v3.cfg # Distance: 10485.606790 (m) # Estimated Time: 8446 (s) 2.346 (hr) # Abort Time: 10980 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 566 (s) # Way Points: 35 # Route Points: 192 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 95 (m) # Minimum Vehicle Altitude: 100 (m) # Abort Vehicle Altitude: 70 (m) # Maximum Vehicle Depth: 500 (m) # Abort Vehicle Depth: 550 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: (m) # Waypoint Spacing: 50 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -119.220693 34.135710 -85.185404 0.000000 1 # 1 -119.223512 34.132283 -148.503235 460.543328 1 # 2 -119.221850 34.129518 -167.924967 803.505203 1 # 3 -119.222283 34.125551 -190.061503 1245.473243 1 # 4 -119.223512 34.123086 -198.748718 1541.464042 1 # 5 -119.226403 34.122845 -215.886108 1809.494119 1 # 6 -119.229582 34.121102 -230.015462 2160.879727 1 # 7 -119.233268 34.118758 -229.686300 2588.997727 1 # 8 -119.233051 34.116954 -252.189799 2790.065999 1 # 9 -119.232401 34.114790 -264.987244 3037.537623 1 # 10 -119.231317 34.113167 -272.505676 3243.516934 1 # 11 -119.228932 34.112806 -277.924886 3467.178707 1 # 12 -119.226764 34.111905 -284.959757 3690.845670 1 # 13 -119.225029 34.109740 -296.428711 3979.383111 1 # 14 -119.226403 34.108057 -306.087341 4205.043172 1 # 15 -119.227414 34.106855 -310.607829 4367.851770 1 # 16 -119.229004 34.105172 -317.687866 4605.325660 1 # 17 -119.230883 34.103969 -327.135742 4824.083965 1 # 18 -119.233051 34.101986 -319.085938 5121.511049 1 # 19 -119.234569 34.098198 -324.800781 5564.387438 1 # 20 -119.235725 34.095253 -322.564575 5908.151658 1 # 21 -119.236158 34.092908 -333.157552 6171.303739 1 # 22 -119.235002 34.090083 -327.018229 6502.416708 1 # 23 -119.234207 34.088039 -351.597656 6740.738323 1 # 24 -119.233990 34.085334 -360.070312 7041.509588 1 # 25 -119.234424 34.082268 -369.807292 7383.975059 1 # 26 -119.236737 34.079623 -381.341146 7746.841887 1 # 27 -119.238977 34.076497 -420.653687 8150.610605 1 # 28 -119.241362 34.073431 -427.401164 8555.762855 1 # 29 -119.243024 34.071507 -435.595662 8818.609388 1 # 30 -119.243963 34.069103 -443.978516 9099.115177 1 # 31 -119.244614 34.066578 -447.441325 9385.577621 1 # 32 -119.245625 34.063031 -448.194906 9789.984826 1 # 33 -119.246782 34.061168 -455.099691 10022.661094 1 # 34 -119.249745 34.057801 -471.868815 10485.606790 1 # # A total of 192 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 10485.606790 #define MISSION_TIME 8446 #define MISSION_TIMEOUT 10980 #define DEPTH_MAX 500.000000 #define DEPTH_ABORT 550.000000 #define ALTITUDE_DESIRED 95.000000 #define ALTITUDE_MIN 100.000000 #define ALTITUDE_ABORT 50.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define SPIRAL_DESCENT_DEPTH 0.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 2 #define ASCENDRUDDER 3.000000 #define ASCENDPITCH 45.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDRUDDER 3.000000 #define DESCENDPITCH -30.000000 #define MAXCROSSTRACKERROR 30 #define RESON_DURATION 6 # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = MISSION_TIMEOUT; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = DEPTH_MAX; abortDepth = DEPTH_ABORT; minAltitude = ALTITUDE_MIN; abortAltitude = ALTITUDE_ABORT; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 566; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # # 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 = RESON_DURATION; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 59.043660 meters # Minimum depth: 471.868815 meters looking forward 0.000000 meters along route # Maximum depth: 471.868815 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 376.868815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.057801; longitude = -119.249745; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 375.562393; finalDepth = 376.868815; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:376.868815 # Seafloor depth:-471.868815 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 59.043660 meters # Minimum depth: 470.562393 meters looking forward 0.000000 meters along route # Maximum depth: 470.562393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 375.562393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058222; longitude = -119.249374; captureRadius = 10; duration = 59; initialDepth = 375.033018; finalDepth = 375.562393; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:375.562393 # Seafloor depth:-470.562393 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 59.043660 meters # Minimum depth: 470.033018 meters looking forward 0.000000 meters along route # Maximum depth: 470.033018 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 375.033018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.058622; longitude = -119.249022; captureRadius = 10; duration = 59; initialDepth = 373.782320; finalDepth = 375.033018; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:375.033018 # Seafloor depth:-470.033018 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 59.043660 meters # Minimum depth: 468.782320 meters looking forward 0.000000 meters along route # Maximum depth: 468.782320 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 373.782320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059115; longitude = -119.248588; captureRadius = 10; duration = 59; initialDepth = 372.343475; finalDepth = 373.782320; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:373.78232 # Seafloor depth:-468.782320 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 59.043660 meters # Minimum depth: 467.343475 meters looking forward 0.000000 meters along route # Maximum depth: 467.343475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 372.343475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059484; longitude = -119.248263; captureRadius = 10; duration = 59; initialDepth = 370.995245; finalDepth = 372.343475; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:372.343475 # Seafloor depth:-467.343475 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 59.043660 meters # Minimum depth: 465.995245 meters looking forward 0.000000 meters along route # Maximum depth: 465.995245 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 370.995245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.059854; longitude = -119.247938; captureRadius = 10; duration = 59; initialDepth = 369.335983; finalDepth = 370.995245; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:370.995245 # Seafloor depth:-465.995245 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 59.043660 meters # Minimum depth: 464.335983 meters looking forward 0.000000 meters along route # Maximum depth: 464.335983 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 369.335983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060347; longitude = -119.247504; captureRadius = 10; duration = 59; initialDepth = 368.966202; finalDepth = 369.335983; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:369.335983 # Seafloor depth:-464.335983 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 59.043660 meters # Minimum depth: 463.966202 meters looking forward 0.000000 meters along route # Maximum depth: 463.966202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 368.966202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.060747; longitude = -119.247152; captureRadius = 10; duration = 59; initialDepth = 360.099691; finalDepth = 368.966202; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:368.966202 # Seafloor depth:-463.966202 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 59.043660 meters # Minimum depth: 455.099691 meters looking forward 0.000000 meters along route # Maximum depth: 455.099691 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 360.099691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.061168; longitude = -119.246782; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 350.666077; finalDepth = 360.099691; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:360.099691 # Seafloor depth:-455.099691 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 59.043660 meters # Minimum depth: 445.666077 meters looking forward 0.000000 meters along route # Maximum depth: 445.666077 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 350.666077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.061649; longitude = -119.246483; captureRadius = 10; duration = 59; initialDepth = 350.709763; finalDepth = 350.666077; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:350.666077 # Seafloor depth:-445.666077 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 59.043660 meters # Minimum depth: 445.709763 meters looking forward 0.000000 meters along route # Maximum depth: 445.709763 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 350.709763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.062099; longitude = -119.246204; captureRadius = 10; duration = 59; initialDepth = 352.196083; finalDepth = 350.709763; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:350.709763 # Seafloor depth:-445.709763 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 59.043660 meters # Minimum depth: 447.196083 meters looking forward 0.000000 meters along route # Maximum depth: 447.196083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 352.196083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.062550; longitude = -119.245924; captureRadius = 10; duration = 59; initialDepth = 353.194906; finalDepth = 352.196083; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:352.196083 # Seafloor depth:-447.196083 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 59.043660 meters # Minimum depth: 448.194906 meters looking forward 0.000000 meters along route # Maximum depth: 448.194906 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 353.194906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063031; longitude = -119.245625; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 353.787746; finalDepth = 353.194906; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:353.194906 # Seafloor depth:-448.194906 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 59.043660 meters # Minimum depth: 448.787746 meters looking forward 0.000000 meters along route # Maximum depth: 448.787746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 353.787746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063285; longitude = -119.245553; captureRadius = 10; duration = 59; initialDepth = 354.058365; finalDepth = 353.787746; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:353.787746 # Seafloor depth:-448.787746 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 59.043660 meters # Minimum depth: 449.058365 meters looking forward 0.000000 meters along route # Maximum depth: 449.058365 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 354.058365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.063813; longitude = -119.245402; captureRadius = 10; duration = 59; initialDepth = 353.582614; finalDepth = 354.058365; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:354.058365 # Seafloor depth:-449.058365 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 59.043660 meters # Minimum depth: 448.582614 meters looking forward 0.000000 meters along route # Maximum depth: 448.582614 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 353.582614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.064354; longitude = -119.245248; captureRadius = 10; duration = 59; initialDepth = 352.743883; finalDepth = 353.582614; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:353.582614 # Seafloor depth:-448.582614 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 59.043660 meters # Minimum depth: 447.743883 meters looking forward 0.000000 meters along route # Maximum depth: 447.743883 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 352.743883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.064895; longitude = -119.245094; captureRadius = 10; duration = 59; initialDepth = 349.910938; finalDepth = 352.743883; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:352.743883 # Seafloor depth:-447.743883 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 59.043660 meters # Minimum depth: 444.910938 meters looking forward 0.000000 meters along route # Maximum depth: 444.910938 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 349.910938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.065436; longitude = -119.244939; captureRadius = 10; duration = 59; initialDepth = 352.534708; finalDepth = 349.910938; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:349.910938 # Seafloor depth:-444.910938 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 59.043660 meters # Minimum depth: 447.534708 meters looking forward 0.000000 meters along route # Maximum depth: 447.534708 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 352.534708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.065977; longitude = -119.244785; captureRadius = 10; duration = 59; initialDepth = 352.441325; finalDepth = 352.534708; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:352.534708 # Seafloor depth:-447.534708 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 59.043660 meters # Minimum depth: 447.441325 meters looking forward 0.000000 meters along route # Maximum depth: 447.441325 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 352.441325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.066578; longitude = -119.244614; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 352.653474; finalDepth = 352.441325; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:352.441325 # Seafloor depth:-447.441325 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 59.043660 meters # Minimum depth: 447.653474 meters looking forward 0.000000 meters along route # Maximum depth: 447.653474 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 352.653474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.066879; longitude = -119.244536; captureRadius = 10; duration = 59; initialDepth = 351.225932; finalDepth = 352.653474; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:352.653474 # Seafloor depth:-447.653474 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 59.043660 meters # Minimum depth: 446.225932 meters looking forward 0.000000 meters along route # Maximum depth: 446.225932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 351.225932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.067420; longitude = -119.244397; captureRadius = 10; duration = 59; initialDepth = 351.187066; finalDepth = 351.225932; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:351.225932 # Seafloor depth:-446.225932 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 59.043660 meters # Minimum depth: 446.187066 meters looking forward 0.000000 meters along route # Maximum depth: 446.187066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 351.187066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.067981; longitude = -119.244252; captureRadius = 10; duration = 59; initialDepth = 351.033363; finalDepth = 351.187066; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:351.187066 # Seafloor depth:-446.187066 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 59.043660 meters # Minimum depth: 446.033363 meters looking forward 0.000000 meters along route # Maximum depth: 446.033363 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 351.033363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.068502; longitude = -119.244118; captureRadius = 10; duration = 59; initialDepth = 348.978516; finalDepth = 351.033363; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:351.033363 # Seafloor depth:-446.033363 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 59.043660 meters # Minimum depth: 443.978516 meters looking forward 0.000000 meters along route # Maximum depth: 443.978516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 348.978516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.069103; longitude = -119.243963; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 346.075598; finalDepth = 348.978516; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:348.978516 # Seafloor depth:-443.978516 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 59.043660 meters # Minimum depth: 441.075598 meters looking forward 0.000000 meters along route # Maximum depth: 441.075598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 346.075598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.069584; longitude = -119.243775; captureRadius = 10; duration = 59; initialDepth = 344.401279; finalDepth = 346.075598; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:346.075598 # Seafloor depth:-441.075598 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 59.043660 meters # Minimum depth: 439.401279 meters looking forward 0.000000 meters along route # Maximum depth: 439.401279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 344.401279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.070125; longitude = -119.243564; captureRadius = 10; duration = 59; initialDepth = 344.088355; finalDepth = 344.401279; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:344.401279 # Seafloor depth:-439.401279 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 59.043660 meters # Minimum depth: 439.088355 meters looking forward 0.000000 meters along route # Maximum depth: 439.088355 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 344.088355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.070583; longitude = -119.243385; captureRadius = 10; duration = 59; initialDepth = 339.835699; finalDepth = 344.088355; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:344.088355 # Seafloor depth:-439.088355 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 59.043660 meters # Minimum depth: 434.835699 meters looking forward 0.000000 meters along route # Maximum depth: 434.835699 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 339.835699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.071026; longitude = -119.243212; captureRadius = 10; duration = 59; initialDepth = 340.595662; finalDepth = 339.835699; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:339.835699 # Seafloor depth:-434.835699 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 59.043660 meters # Minimum depth: 435.595662 meters looking forward 0.000000 meters along route # Maximum depth: 435.595662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 340.595662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.071507; longitude = -119.243024; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 340.428163; finalDepth = 340.595662; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:340.595662 # Seafloor depth:-435.595662 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 59.043660 meters # Minimum depth: 435.428163 meters looking forward 0.000000 meters along route # Maximum depth: 435.428163 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 340.428163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.071591; longitude = -119.242952; captureRadius = 10; duration = 59; initialDepth = 338.688635; finalDepth = 340.428163; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:340.428163 # Seafloor depth:-435.428163 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 59.043660 meters # Minimum depth: 433.688635 meters looking forward 0.000000 meters along route # Maximum depth: 433.688635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 338.688635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.072109; longitude = -119.242504; captureRadius = 10; duration = 59; initialDepth = 338.464704; finalDepth = 338.688635; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:338.688635 # Seafloor depth:-433.688635 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 59.043660 meters # Minimum depth: 433.464704 meters looking forward 0.000000 meters along route # Maximum depth: 433.464704 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 338.464704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.072595; longitude = -119.242084; captureRadius = 10; duration = 59; initialDepth = 335.474305; finalDepth = 338.464704; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:338.464704 # Seafloor depth:-433.464704 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 59.043660 meters # Minimum depth: 430.474305 meters looking forward 0.000000 meters along route # Maximum depth: 430.474305 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 335.474305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.073010; longitude = -119.241725; captureRadius = 10; duration = 59; initialDepth = 332.401164; finalDepth = 335.474305; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:335.474305 # Seafloor depth:-430.474305 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 59.043660 meters # Minimum depth: 427.401164 meters looking forward 0.000000 meters along route # Maximum depth: 427.401164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 332.401164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.073431; longitude = -119.241362; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 330.198133; finalDepth = 332.401164; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:332.401164 # Seafloor depth:-427.401164 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 59.043660 meters # Minimum depth: 425.198133 meters looking forward 0.000000 meters along route # Maximum depth: 425.198133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 330.198133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.073732; longitude = -119.241128; captureRadius = 10; duration = 59; initialDepth = 330.063787; finalDepth = 330.198133; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:330.198133 # Seafloor depth:-425.198133 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 59.043660 meters # Minimum depth: 425.063787 meters looking forward 0.000000 meters along route # Maximum depth: 425.063787 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 330.063787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.074273; longitude = -119.240707; captureRadius = 10; duration = 59; initialDepth = 328.965920; finalDepth = 330.063787; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:330.063787 # Seafloor depth:-425.063787 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 59.043660 meters # Minimum depth: 423.965920 meters looking forward 0.000000 meters along route # Maximum depth: 423.965920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 328.965920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.074732; longitude = -119.240350; captureRadius = 10; duration = 59; initialDepth = 327.953755; finalDepth = 328.965920; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:328.96592 # Seafloor depth:-423.965920 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 59.043660 meters # Minimum depth: 422.953755 meters looking forward 0.000000 meters along route # Maximum depth: 422.953755 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 327.953755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.075174; longitude = -119.240006; captureRadius = 10; duration = 59; initialDepth = 326.909504; finalDepth = 327.953755; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:327.953755 # Seafloor depth:-422.953755 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 59.043660 meters # Minimum depth: 421.909504 meters looking forward 0.000000 meters along route # Maximum depth: 421.909504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 326.909504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.075568; longitude = -119.239700; captureRadius = 10; duration = 59; initialDepth = 326.179303; finalDepth = 326.909504; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:326.909504 # Seafloor depth:-421.909504 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 59.043660 meters # Minimum depth: 421.179303 meters looking forward 0.000000 meters along route # Maximum depth: 421.179303 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 326.179303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.076076; longitude = -119.239304; captureRadius = 10; duration = 59; initialDepth = 325.653687; finalDepth = 326.179303; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:326.179303 # Seafloor depth:-421.179303 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 59.043660 meters # Minimum depth: 420.653687 meters looking forward 0.000000 meters along route # Maximum depth: 420.653687 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 325.653687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.076497; longitude = -119.238977; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 324.671092; finalDepth = 325.653687; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:325.653687 # Seafloor depth:-420.653687 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 59.043660 meters # Minimum depth: 419.671092 meters looking forward 0.000000 meters along route # Maximum depth: 419.671092 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 324.671092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.076797; longitude = -119.238761; captureRadius = 10; duration = 59; initialDepth = 326.003247; finalDepth = 324.671092; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:324.671092 # Seafloor depth:-419.671092 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 59.043660 meters # Minimum depth: 421.003247 meters looking forward 0.000000 meters along route # Maximum depth: 421.003247 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 326.003247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.077304; longitude = -119.238399; captureRadius = 10; duration = 59; initialDepth = 325.271304; finalDepth = 326.003247; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:326.003247 # Seafloor depth:-421.003247 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 59.043660 meters # Minimum depth: 420.271304 meters looking forward 0.000000 meters along route # Maximum depth: 420.271304 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 325.271304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.077699; longitude = -119.238115; captureRadius = 10; duration = 59; initialDepth = 311.200983; finalDepth = 325.271304; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:325.271304 # Seafloor depth:-420.271304 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 59.043660 meters # Minimum depth: 406.200983 meters looking forward 0.000000 meters along route # Maximum depth: 406.200983 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 311.200983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.078211; longitude = -119.237748; captureRadius = 10; duration = 59; initialDepth = 299.334210; finalDepth = 311.200983; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:311.200983 # Seafloor depth:-406.200983 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 59.043660 meters # Minimum depth: 394.334210 meters looking forward 0.000000 meters along route # Maximum depth: 394.334210 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 299.334210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.078601; longitude = -119.237469; captureRadius = 10; duration = 59; initialDepth = 291.873197; finalDepth = 299.334210; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:299.33421 # Seafloor depth:-394.334210 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 59.043660 meters # Minimum depth: 386.873197 meters looking forward 0.000000 meters along route # Maximum depth: 386.873197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 291.873197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.079142; longitude = -119.237081; captureRadius = 10; duration = 59; initialDepth = 286.341146; finalDepth = 291.873197; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:291.873197 # Seafloor depth:-386.873197 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 59.043660 meters # Minimum depth: 381.341146 meters looking forward 0.000000 meters along route # Maximum depth: 381.341146 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 286.341146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.079623; longitude = -119.236737; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 283.890980; finalDepth = 286.341146; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:286.341146 # Seafloor depth:-381.341146 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 59.043660 meters # Minimum depth: 378.890980 meters looking forward 0.000000 meters along route # Maximum depth: 378.890980 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 283.890980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.080044; longitude = -119.236369; captureRadius = 10; duration = 59; initialDepth = 285.000977; finalDepth = 283.890980; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:283.89098 # Seafloor depth:-378.890980 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 59.043660 meters # Minimum depth: 380.000977 meters looking forward 0.000000 meters along route # Maximum depth: 380.000977 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 285.000977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.080449; longitude = -119.236014; captureRadius = 10; duration = 59; initialDepth = 290.375000; finalDepth = 285.000977; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:285.000977 # Seafloor depth:-380.000977 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 59.043660 meters # Minimum depth: 385.375000 meters looking forward 0.000000 meters along route # Maximum depth: 385.375000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 290.375000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.080945; longitude = -119.235580; captureRadius = 10; duration = 59; initialDepth = 285.998047; finalDepth = 290.375000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:290.375 # Seafloor depth:-385.375000 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 59.043660 meters # Minimum depth: 380.998047 meters looking forward 0.000000 meters along route # Maximum depth: 380.998047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 285.998047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.081441; longitude = -119.235147; captureRadius = 10; duration = 59; initialDepth = 275.590554; finalDepth = 285.998047; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:285.998047 # Seafloor depth:-380.998047 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 59.043660 meters # Minimum depth: 370.590554 meters looking forward 0.000000 meters along route # Maximum depth: 370.590554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 275.590554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.081847; longitude = -119.234792; captureRadius = 10; duration = 59; initialDepth = 274.807292; finalDepth = 275.590554; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:275.590554 # Seafloor depth:-370.590554 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 59.043660 meters # Minimum depth: 369.807292 meters looking forward 0.000000 meters along route # Maximum depth: 369.807292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 274.807292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.082268; longitude = -119.234424; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 276.862822; finalDepth = 274.807292; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:274.807292 # Seafloor depth:-369.807292 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 59.043660 meters # Minimum depth: 371.862822 meters looking forward 0.000000 meters along route # Maximum depth: 371.862822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 276.862822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.082749; longitude = -119.234356; captureRadius = 10; duration = 59; initialDepth = 270.519531; finalDepth = 276.862822; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:276.862822 # Seafloor depth:-371.862822 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 59.043660 meters # Minimum depth: 365.519531 meters looking forward 0.000000 meters along route # Maximum depth: 365.519531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 270.519531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.083290; longitude = -119.234280; captureRadius = 10; duration = 59; initialDepth = 268.843520; finalDepth = 270.519531; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:270.519531 # Seafloor depth:-365.519531 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 59.043660 meters # Minimum depth: 363.843520 meters looking forward 0.000000 meters along route # Maximum depth: 363.843520 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 268.843520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.083831; longitude = -119.234203; captureRadius = 10; duration = 59; initialDepth = 270.208869; finalDepth = 268.843520; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:268.84352 # Seafloor depth:-363.843520 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 59.043660 meters # Minimum depth: 365.208869 meters looking forward 0.000000 meters along route # Maximum depth: 365.208869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 270.208869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.084372; longitude = -119.234127; captureRadius = 10; duration = 59; initialDepth = 267.736328; finalDepth = 270.208869; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:270.208869 # Seafloor depth:-365.208869 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 59.043660 meters # Minimum depth: 362.736328 meters looking forward 0.000000 meters along route # Maximum depth: 362.736328 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 267.736328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.084823; longitude = -119.234063; captureRadius = 10; duration = 59; initialDepth = 265.070312; finalDepth = 267.736328; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:267.736328 # Seafloor depth:-362.736328 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 59.043660 meters # Minimum depth: 360.070312 meters looking forward 0.000000 meters along route # Maximum depth: 360.070312 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 265.070312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.085334; longitude = -119.233990; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 261.718663; finalDepth = 265.070312; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:265.070312 # Seafloor depth:-360.070312 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 59.043660 meters # Minimum depth: 356.718663 meters looking forward 0.000000 meters along route # Maximum depth: 356.718663 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 261.718663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.085815; longitude = -119.234029; captureRadius = 10; duration = 59; initialDepth = 259.389149; finalDepth = 261.718663; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:261.718663 # Seafloor depth:-356.718663 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 59.043660 meters # Minimum depth: 354.389149 meters looking forward 0.000000 meters along route # Maximum depth: 354.389149 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 259.389149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.086356; longitude = -119.234072; captureRadius = 10; duration = 59; initialDepth = 259.073611; finalDepth = 259.389149; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:259.389149 # Seafloor depth:-354.389149 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 59.043660 meters # Minimum depth: 354.073611 meters looking forward 0.000000 meters along route # Maximum depth: 354.073611 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 259.073611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.086897; longitude = -119.234116; captureRadius = 10; duration = 59; initialDepth = 259.876302; finalDepth = 259.073611; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:259.073611 # Seafloor depth:-354.073611 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 59.043660 meters # Minimum depth: 354.876302 meters looking forward 0.000000 meters along route # Maximum depth: 354.876302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 259.876302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.087438; longitude = -119.234159; captureRadius = 10; duration = 59; initialDepth = 256.597656; finalDepth = 259.876302; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:259.876302 # Seafloor depth:-354.876302 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 59.043660 meters # Minimum depth: 351.597656 meters looking forward 0.000000 meters along route # Maximum depth: 351.597656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 256.597656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.088039; longitude = -119.234207; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 247.933364; finalDepth = 256.597656; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:256.597656 # Seafloor depth:-351.597656 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 59.043660 meters # Minimum depth: 342.933364 meters looking forward 0.000000 meters along route # Maximum depth: 342.933364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 247.933364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.088520; longitude = -119.234394; captureRadius = 10; duration = 59; initialDepth = 238.886719; finalDepth = 247.933364; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:247.933364 # Seafloor depth:-342.933364 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 59.043660 meters # Minimum depth: 333.886719 meters looking forward 0.000000 meters along route # Maximum depth: 333.886719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 238.886719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.089061; longitude = -119.234605; captureRadius = 10; duration = 59; initialDepth = 233.282858; finalDepth = 238.886719; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:238.886719 # Seafloor depth:-333.886719 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 59.043660 meters # Minimum depth: 328.282858 meters looking forward 0.000000 meters along route # Maximum depth: 328.282858 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 233.282858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.089602; longitude = -119.234815; captureRadius = 10; duration = 59; initialDepth = 232.018229; finalDepth = 233.282858; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:233.282858 # Seafloor depth:-328.282858 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 59.043660 meters # Minimum depth: 327.018229 meters looking forward 0.000000 meters along route # Maximum depth: 327.018229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 232.018229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.090083; longitude = -119.235002; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 232.024850; finalDepth = 232.018229; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:232.018229 # Seafloor depth:-327.018229 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 59.043660 meters # Minimum depth: 327.024850 meters looking forward 0.000000 meters along route # Maximum depth: 327.024850 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 232.024850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.090143; longitude = -119.235027; captureRadius = 10; duration = 59; initialDepth = 234.461852; finalDepth = 232.024850; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:232.02485 # Seafloor depth:-327.024850 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 59.043660 meters # Minimum depth: 329.461852 meters looking forward 0.000000 meters along route # Maximum depth: 329.461852 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 234.461852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.090684; longitude = -119.235248; captureRadius = 10; duration = 59; initialDepth = 239.342586; finalDepth = 234.461852; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:234.461852 # Seafloor depth:-329.461852 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 59.043660 meters # Minimum depth: 334.342586 meters looking forward 0.000000 meters along route # Maximum depth: 334.342586 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 239.342586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.091225; longitude = -119.235470; captureRadius = 10; duration = 59; initialDepth = 246.739611; finalDepth = 239.342586; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:239.342586 # Seafloor depth:-334.342586 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 59.043660 meters # Minimum depth: 341.739611 meters looking forward 0.000000 meters along route # Maximum depth: 341.739611 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 246.739611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.091766; longitude = -119.235691; captureRadius = 10; duration = 59; initialDepth = 243.865193; finalDepth = 246.739611; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:246.739611 # Seafloor depth:-341.739611 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 59.043660 meters # Minimum depth: 338.865193 meters looking forward 0.000000 meters along route # Maximum depth: 338.865193 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 243.865193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.092307; longitude = -119.235912; captureRadius = 10; duration = 59; initialDepth = 238.157552; finalDepth = 243.865193; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:243.865193 # Seafloor depth:-338.865193 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 59.043660 meters # Minimum depth: 333.157552 meters looking forward 0.000000 meters along route # Maximum depth: 333.157552 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 238.157552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.092908; longitude = -119.236158; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 236.993890; finalDepth = 238.157552; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:238.157552 # Seafloor depth:-333.157552 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 59.043660 meters # Minimum depth: 331.993890 meters looking forward 0.000000 meters along route # Maximum depth: 331.993890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 236.993890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.093028; longitude = -119.236136; captureRadius = 10; duration = 59; initialDepth = 234.184095; finalDepth = 236.993890; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:236.99389 # Seafloor depth:-331.993890 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 59.043660 meters # Minimum depth: 329.184095 meters looking forward 0.000000 meters along route # Maximum depth: 329.184095 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 234.184095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.093570; longitude = -119.236036; captureRadius = 10; duration = 59; initialDepth = 234.335637; finalDepth = 234.184095; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:234.184095 # Seafloor depth:-329.184095 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 59.043660 meters # Minimum depth: 329.335637 meters looking forward 0.000000 meters along route # Maximum depth: 329.335637 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 234.335637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.094111; longitude = -119.235936; captureRadius = 10; duration = 59; initialDepth = 232.150541; finalDepth = 234.335637; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:234.335637 # Seafloor depth:-329.335637 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 59.043660 meters # Minimum depth: 327.150541 meters looking forward 0.000000 meters along route # Maximum depth: 327.150541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 232.150541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.094652; longitude = -119.235836; captureRadius = 10; duration = 59; initialDepth = 227.564575; finalDepth = 232.150541; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:232.150541 # Seafloor depth:-327.150541 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 59.043660 meters # Minimum depth: 322.564575 meters looking forward 0.000000 meters along route # Maximum depth: 322.564575 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 227.564575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.095253; longitude = -119.235725; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 229.912787; finalDepth = 227.564575; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:227.564575 # Seafloor depth:-322.564575 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 59.043660 meters # Minimum depth: 324.912787 meters looking forward 0.000000 meters along route # Maximum depth: 324.912787 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 229.912787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.095734; longitude = -119.235536; captureRadius = 10; duration = 59; initialDepth = 237.148119; finalDepth = 229.912787; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:229.912787 # Seafloor depth:-324.912787 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 59.043660 meters # Minimum depth: 332.148119 meters looking forward 0.000000 meters along route # Maximum depth: 332.148119 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 237.148119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.096275; longitude = -119.235324; captureRadius = 10; duration = 59; initialDepth = 237.978874; finalDepth = 237.148119; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:237.148119 # Seafloor depth:-332.148119 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 59.043660 meters # Minimum depth: 332.978874 meters looking forward 0.000000 meters along route # Maximum depth: 332.978874 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 237.978874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.096816; longitude = -119.235111; captureRadius = 10; duration = 59; initialDepth = 227.177979; finalDepth = 237.978874; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:237.978874 # Seafloor depth:-332.978874 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 59.043660 meters # Minimum depth: 322.177979 meters looking forward 0.000000 meters along route # Maximum depth: 322.177979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 227.177979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.097278; longitude = -119.234930; captureRadius = 10; duration = 59; initialDepth = 225.191805; finalDepth = 227.177979; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:227.177979 # Seafloor depth:-322.177979 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 59.043660 meters # Minimum depth: 320.191805 meters looking forward 0.000000 meters along route # Maximum depth: 320.191805 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 225.191805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.097717; longitude = -119.234757; captureRadius = 10; duration = 59; initialDepth = 229.800781; finalDepth = 225.191805; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:225.191805 # Seafloor depth:-320.191805 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 59.043660 meters # Minimum depth: 324.800781 meters looking forward 0.000000 meters along route # Maximum depth: 324.800781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 229.800781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.098198; longitude = -119.234569; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 230.828993; finalDepth = 229.800781; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:229.800781 # Seafloor depth:-324.800781 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 59.043660 meters # Minimum depth: 325.828993 meters looking forward 0.000000 meters along route # Maximum depth: 325.828993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 230.828993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.098258; longitude = -119.234545; captureRadius = 10; duration = 59; initialDepth = 238.316840; finalDepth = 230.828993; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:230.828993 # Seafloor depth:-325.828993 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 59.043660 meters # Minimum depth: 333.316840 meters looking forward 0.000000 meters along route # Maximum depth: 333.316840 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 238.316840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.098799; longitude = -119.234328; captureRadius = 10; duration = 59; initialDepth = 225.174913; finalDepth = 238.316840; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:238.31684 # Seafloor depth:-333.316840 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 59.043660 meters # Minimum depth: 320.174913 meters looking forward 0.000000 meters along route # Maximum depth: 320.174913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 225.174913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.099341; longitude = -119.234111; captureRadius = 10; duration = 59; initialDepth = 216.196615; finalDepth = 225.174913; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:225.174913 # Seafloor depth:-320.174913 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 59.043660 meters # Minimum depth: 311.196615 meters looking forward 0.000000 meters along route # Maximum depth: 311.196615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 216.196615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.099882; longitude = -119.233894; captureRadius = 10; duration = 59; initialDepth = 214.940104; finalDepth = 216.196615; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:216.196615 # Seafloor depth:-311.196615 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 59.043660 meters # Minimum depth: 309.940104 meters looking forward 0.000000 meters along route # Maximum depth: 309.940104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 214.940104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.100423; longitude = -119.233677; captureRadius = 10; duration = 59; initialDepth = 218.505642; finalDepth = 214.940104; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:214.940104 # Seafloor depth:-309.940104 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 59.043660 meters # Minimum depth: 313.505642 meters looking forward 0.000000 meters along route # Maximum depth: 313.505642 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 218.505642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.100964; longitude = -119.233461; captureRadius = 10; duration = 59; initialDepth = 244.468408; finalDepth = 218.505642; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:218.505642 # Seafloor depth:-313.505642 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 59.043660 meters # Minimum depth: 339.468408 meters looking forward 0.000000 meters along route # Maximum depth: 339.468408 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 244.468408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.101505; longitude = -119.233244; captureRadius = 10; duration = 59; initialDepth = 224.085938; finalDepth = 244.468408; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:244.468408 # Seafloor depth:-339.468408 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 59.043660 meters # Minimum depth: 319.085938 meters looking forward 0.000000 meters along route # Maximum depth: 319.085938 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 224.085938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.101986; longitude = -119.233051; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 224.104818; finalDepth = 224.085938; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:224.085938 # Seafloor depth:-319.085938 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 59.043660 meters # Minimum depth: 319.104818 meters looking forward 0.000000 meters along route # Maximum depth: 319.104818 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 224.104818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.102052; longitude = -119.232979; captureRadius = 10; duration = 59; initialDepth = 227.420691; finalDepth = 224.104818; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:224.104818 # Seafloor depth:-319.104818 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 59.043660 meters # Minimum depth: 322.420691 meters looking forward 0.000000 meters along route # Maximum depth: 322.420691 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 227.420691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.102406; longitude = -119.232591; captureRadius = 10; duration = 59; initialDepth = 234.279009; finalDepth = 227.420691; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:227.420691 # Seafloor depth:-322.420691 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 59.043660 meters # Minimum depth: 329.279009 meters looking forward 0.000000 meters along route # Maximum depth: 329.279009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 234.279009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.102767; longitude = -119.232197; captureRadius = 10; duration = 59; initialDepth = 233.551381; finalDepth = 234.279009; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:234.279009 # Seafloor depth:-329.279009 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 59.043660 meters # Minimum depth: 328.551381 meters looking forward 0.000000 meters along route # Maximum depth: 328.551381 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 233.551381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.103128; longitude = -119.231803; captureRadius = 10; duration = 59; initialDepth = 233.580425; finalDepth = 233.551381; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:233.551381 # Seafloor depth:-328.551381 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 59.043660 meters # Minimum depth: 328.580425 meters looking forward 0.000000 meters along route # Maximum depth: 328.580425 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 233.580425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.103488; longitude = -119.231409; captureRadius = 10; duration = 59; initialDepth = 232.135742; finalDepth = 233.580425; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:233.580425 # Seafloor depth:-328.580425 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 59.043660 meters # Minimum depth: 327.135742 meters looking forward 0.000000 meters along route # Maximum depth: 327.135742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 232.135742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.103969; longitude = -119.230883; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 231.952846; finalDepth = 232.135742; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:232.135742 # Seafloor depth:-327.135742 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 59.043660 meters # Minimum depth: 326.952846 meters looking forward 0.000000 meters along route # Maximum depth: 326.952846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 231.952846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.104016; longitude = -119.230811; captureRadius = 10; duration = 59; initialDepth = 230.132634; finalDepth = 231.952846; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:231.952846 # Seafloor depth:-326.952846 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 59.043660 meters # Minimum depth: 325.132634 meters looking forward 0.000000 meters along route # Maximum depth: 325.132634 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 230.132634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.104293; longitude = -119.230377; captureRadius = 10; duration = 59; initialDepth = 228.070679; finalDepth = 230.132634; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:230.132634 # Seafloor depth:-325.132634 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 59.043660 meters # Minimum depth: 323.070679 meters looking forward 0.000000 meters along route # Maximum depth: 323.070679 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 228.070679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.104571; longitude = -119.229944; captureRadius = 10; duration = 59; initialDepth = 224.830451; finalDepth = 228.070679; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:228.070679 # Seafloor depth:-323.070679 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 59.043660 meters # Minimum depth: 319.830451 meters looking forward 0.000000 meters along route # Maximum depth: 319.830451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 224.830451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.104848; longitude = -119.229510; captureRadius = 10; duration = 59; initialDepth = 222.687866; finalDepth = 224.830451; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:224.830451 # Seafloor depth:-319.830451 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 59.043660 meters # Minimum depth: 317.687866 meters looking forward 0.000000 meters along route # Maximum depth: 317.687866 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 222.687866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.105172; longitude = -119.229004; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 223.282488; finalDepth = 222.687866; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:222.687866 # Seafloor depth:-317.687866 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 59.043660 meters # Minimum depth: 318.282488 meters looking forward 0.000000 meters along route # Maximum depth: 318.282488 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 223.282488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.105292; longitude = -119.228891; captureRadius = 10; duration = 59; initialDepth = 220.802250; finalDepth = 223.282488; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:223.282488 # Seafloor depth:-318.282488 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 59.043660 meters # Minimum depth: 315.802250 meters looking forward 0.000000 meters along route # Maximum depth: 315.802250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 220.802250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.105653; longitude = -119.228550; captureRadius = 10; duration = 59; initialDepth = 220.429077; finalDepth = 220.802250; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:220.80225 # Seafloor depth:-315.802250 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 59.043660 meters # Minimum depth: 315.429077 meters looking forward 0.000000 meters along route # Maximum depth: 315.429077 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 220.429077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.106013; longitude = -119.228209; captureRadius = 10; duration = 59; initialDepth = 219.637196; finalDepth = 220.429077; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:220.429077 # Seafloor depth:-315.429077 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 59.043660 meters # Minimum depth: 314.637196 meters looking forward 0.000000 meters along route # Maximum depth: 314.637196 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 219.637196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.106472; longitude = -119.227776; captureRadius = 10; duration = 59; initialDepth = 215.607829; finalDepth = 219.637196; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:219.637196 # Seafloor depth:-314.637196 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 59.043660 meters # Minimum depth: 310.607829 meters looking forward 0.000000 meters along route # Maximum depth: 310.607829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 215.607829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.106855; longitude = -119.227414; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 214.081961; finalDepth = 215.607829; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:215.607829 # Seafloor depth:-310.607829 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 59.043660 meters # Minimum depth: 309.081961 meters looking forward 0.000000 meters along route # Maximum depth: 309.081961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 214.081961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.107198; longitude = -119.227125; captureRadius = 10; duration = 59; initialDepth = 212.284689; finalDepth = 214.081961; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:214.081961 # Seafloor depth:-309.081961 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 59.043660 meters # Minimum depth: 307.284689 meters looking forward 0.000000 meters along route # Maximum depth: 307.284689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 212.284689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.107636; longitude = -119.226757; captureRadius = 10; duration = 59; initialDepth = 211.087341; finalDepth = 212.284689; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:212.284689 # Seafloor depth:-307.284689 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 59.043660 meters # Minimum depth: 306.087341 meters looking forward 0.000000 meters along route # Maximum depth: 306.087341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 211.087341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.108057; longitude = -119.226403; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 208.550092; finalDepth = 211.087341; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:211.087341 # Seafloor depth:-306.087341 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 59.043660 meters # Minimum depth: 303.550092 meters looking forward 0.000000 meters along route # Maximum depth: 303.550092 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 208.550092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.108500; longitude = -119.226041; captureRadius = 10; duration = 59; initialDepth = 199.007462; finalDepth = 208.550092; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:208.550092 # Seafloor depth:-303.550092 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 59.043660 meters # Minimum depth: 294.007462 meters looking forward 0.000000 meters along route # Maximum depth: 294.007462 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 199.007462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.108899; longitude = -119.225716; captureRadius = 10; duration = 59; initialDepth = 195.154380; finalDepth = 199.007462; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:199.007462 # Seafloor depth:-294.007462 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 59.043660 meters # Minimum depth: 290.154380 meters looking forward 0.000000 meters along route # Maximum depth: 290.154380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 195.154380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.109297; longitude = -119.225391; captureRadius = 10; duration = 59; initialDepth = 201.428711; finalDepth = 195.154380; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:195.15438 # Seafloor depth:-290.154380 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 59.043660 meters # Minimum depth: 296.428711 meters looking forward 0.000000 meters along route # Maximum depth: 296.428711 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 201.428711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.109740; longitude = -119.225029; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 200.254951; finalDepth = 201.428711; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:201.428711 # Seafloor depth:-296.428711 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 59.043660 meters # Minimum depth: 295.254951 meters looking forward 0.000000 meters along route # Maximum depth: 295.254951 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 200.254951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.109981; longitude = -119.225222; captureRadius = 10; duration = 59; initialDepth = 196.399594; finalDepth = 200.254951; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:200.254951 # Seafloor depth:-295.254951 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 59.043660 meters # Minimum depth: 291.399594 meters looking forward 0.000000 meters along route # Maximum depth: 291.399594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 196.399594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.110522; longitude = -119.225656; captureRadius = 10; duration = 59; initialDepth = 193.638692; finalDepth = 196.399594; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:196.399594 # Seafloor depth:-291.399594 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 59.043660 meters # Minimum depth: 288.638692 meters looking forward 0.000000 meters along route # Maximum depth: 288.638692 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 193.638692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.111003; longitude = -119.226041; captureRadius = 10; duration = 59; initialDepth = 188.130300; finalDepth = 193.638692; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:193.638692 # Seafloor depth:-288.638692 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 59.043660 meters # Minimum depth: 283.130300 meters looking forward 0.000000 meters along route # Maximum depth: 283.130300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 188.130300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.111424; longitude = -119.226378; captureRadius = 10; duration = 59; initialDepth = 189.959757; finalDepth = 188.130300; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:188.1303 # Seafloor depth:-283.130300 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 59.043660 meters # Minimum depth: 284.959757 meters looking forward 0.000000 meters along route # Maximum depth: 284.959757 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 189.959757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.111905; longitude = -119.226764; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 189.071869; finalDepth = 189.959757; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:189.959757 # Seafloor depth:-284.959757 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 59.043660 meters # Minimum depth: 284.071869 meters looking forward 0.000000 meters along route # Maximum depth: 284.071869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 189.071869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.112055; longitude = -119.227125; captureRadius = 10; duration = 59; initialDepth = 190.311157; finalDepth = 189.071869; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:189.071869 # Seafloor depth:-284.071869 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 59.043660 meters # Minimum depth: 285.311157 meters looking forward 0.000000 meters along route # Maximum depth: 285.311157 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 190.311157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.112325; longitude = -119.227776; captureRadius = 10; duration = 59; initialDepth = 184.761368; finalDepth = 190.311157; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:190.311157 # Seafloor depth:-285.311157 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 59.043660 meters # Minimum depth: 279.761368 meters looking forward 0.000000 meters along route # Maximum depth: 279.761368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 184.761368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.112596; longitude = -119.228426; captureRadius = 10; duration = 59; initialDepth = 182.924886; finalDepth = 184.761368; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:184.761368 # Seafloor depth:-279.761368 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 59.043660 meters # Minimum depth: 277.924886 meters looking forward 0.000000 meters along route # Maximum depth: 277.924886 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 182.924886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.112806; longitude = -119.228932; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 180.623871; finalDepth = 182.924886; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:182.924886 # Seafloor depth:-277.924886 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 59.043660 meters # Minimum depth: 275.623871 meters looking forward 0.000000 meters along route # Maximum depth: 275.623871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 180.623871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.112866; longitude = -119.229329; captureRadius = 10; duration = 59; initialDepth = 177.974767; finalDepth = 180.623871; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:180.623871 # Seafloor depth:-275.623871 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 59.043660 meters # Minimum depth: 272.974767 meters looking forward 0.000000 meters along route # Maximum depth: 272.974767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 177.974767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.112959; longitude = -119.229944; captureRadius = 10; duration = 59; initialDepth = 176.567683; finalDepth = 177.974767; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:177.974767 # Seafloor depth:-272.974767 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 59.043660 meters # Minimum depth: 271.567683 meters looking forward 0.000000 meters along route # Maximum depth: 271.567683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 176.567683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.113058; longitude = -119.230594; captureRadius = 10; duration = 59; initialDepth = 177.505676; finalDepth = 176.567683; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:176.567683 # Seafloor depth:-271.567683 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 59.043660 meters # Minimum depth: 272.505676 meters looking forward 0.000000 meters along route # Maximum depth: 272.505676 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 177.505676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.113167; longitude = -119.231317; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 175.624861; finalDepth = 177.505676; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:177.505676 # Seafloor depth:-272.505676 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 59.043660 meters # Minimum depth: 270.624861 meters looking forward 0.000000 meters along route # Maximum depth: 270.624861 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 175.624861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.113407; longitude = -119.231477; captureRadius = 10; duration = 59; initialDepth = 174.160472; finalDepth = 175.624861; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:175.624861 # Seafloor depth:-270.624861 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 59.043660 meters # Minimum depth: 269.160472 meters looking forward 0.000000 meters along route # Maximum depth: 269.160472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 174.160472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.113948; longitude = -119.231839; captureRadius = 10; duration = 59; initialDepth = 174.965102; finalDepth = 174.160472; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:174.160472 # Seafloor depth:-269.160472 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 59.043660 meters # Minimum depth: 269.965102 meters looking forward 0.000000 meters along route # Maximum depth: 269.965102 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 174.965102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.114357; longitude = -119.232112; captureRadius = 10; duration = 59; initialDepth = 169.987244; finalDepth = 174.965102; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:174.965102 # Seafloor depth:-269.965102 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 59.043660 meters # Minimum depth: 264.987244 meters looking forward 0.000000 meters along route # Maximum depth: 264.987244 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 169.987244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.114790; longitude = -119.232401; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 169.433161; finalDepth = 169.987244; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:169.987244 # Seafloor depth:-264.987244 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 59.043660 meters # Minimum depth: 264.433161 meters looking forward 0.000000 meters along route # Maximum depth: 264.433161 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 169.433161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.114850; longitude = -119.232419; captureRadius = 10; duration = 59; initialDepth = 161.260994; finalDepth = 169.433161; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:169.433161 # Seafloor depth:-264.433161 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 59.043660 meters # Minimum depth: 256.260994 meters looking forward 0.000000 meters along route # Maximum depth: 256.260994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 161.260994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.115391; longitude = -119.232581; captureRadius = 10; duration = 59; initialDepth = 157.364421; finalDepth = 161.260994; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:161.260994 # Seafloor depth:-256.260994 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 59.043660 meters # Minimum depth: 252.364421 meters looking forward 0.000000 meters along route # Maximum depth: 252.364421 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 157.364421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.115992; longitude = -119.232762; captureRadius = 10; duration = 59; initialDepth = 163.818136; finalDepth = 157.364421; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:157.364421 # Seafloor depth:-252.364421 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 59.043660 meters # Minimum depth: 258.818136 meters looking forward 0.000000 meters along route # Maximum depth: 258.818136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 163.818136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.116473; longitude = -119.232906; captureRadius = 10; duration = 59; initialDepth = 157.189799; finalDepth = 163.818136; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:163.818136 # Seafloor depth:-258.818136 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 59.043660 meters # Minimum depth: 252.189799 meters looking forward 0.000000 meters along route # Maximum depth: 252.189799 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 157.189799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.116954; longitude = -119.233051; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 149.819557; finalDepth = 157.189799; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:157.189799 # Seafloor depth:-252.189799 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 59.043660 meters # Minimum depth: 244.819557 meters looking forward 0.000000 meters along route # Maximum depth: 244.819557 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 149.819557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.117195; longitude = -119.233080; captureRadius = 10; duration = 59; initialDepth = 136.094934; finalDepth = 149.819557; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:149.819557 # Seafloor depth:-244.819557 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 59.043660 meters # Minimum depth: 231.094934 meters looking forward 0.000000 meters along route # Maximum depth: 231.094934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 136.094934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.117736; longitude = -119.233145; captureRadius = 10; duration = 59; initialDepth = 132.754539; finalDepth = 136.094934; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:136.094934 # Seafloor depth:-231.094934 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 59.043660 meters # Minimum depth: 227.754539 meters looking forward 0.000000 meters along route # Maximum depth: 227.754539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 132.754539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.118277; longitude = -119.233210; captureRadius = 10; duration = 59; initialDepth = 134.686300; finalDepth = 132.754539; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:132.754539 # Seafloor depth:-227.754539 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 59.043660 meters # Minimum depth: 229.686300 meters looking forward 0.000000 meters along route # Maximum depth: 229.686300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 134.686300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.118758; longitude = -119.233268; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 131.027133; finalDepth = 134.686300; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:134.6863 # Seafloor depth:-229.686300 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 59.043660 meters # Minimum depth: 226.027133 meters looking forward 0.000000 meters along route # Maximum depth: 226.027133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 131.027133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.118804; longitude = -119.233196; captureRadius = 10; duration = 59; initialDepth = 129.949741; finalDepth = 131.027133; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:131.027133 # Seafloor depth:-226.027133 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 59.043660 meters # Minimum depth: 224.949741 meters looking forward 0.000000 meters along route # Maximum depth: 224.949741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 129.949741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.119079; longitude = -119.232762; captureRadius = 10; duration = 59; initialDepth = 128.546107; finalDepth = 129.949741; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:129.949741 # Seafloor depth:-224.949741 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 59.043660 meters # Minimum depth: 223.546107 meters looking forward 0.000000 meters along route # Maximum depth: 223.546107 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 128.546107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.119355; longitude = -119.232328; captureRadius = 10; duration = 59; initialDepth = 128.608775; finalDepth = 128.546107; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:128.546107 # Seafloor depth:-223.546107 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 59.043660 meters # Minimum depth: 223.608775 meters looking forward 0.000000 meters along route # Maximum depth: 223.608775 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 128.608775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.119631; longitude = -119.231895; captureRadius = 10; duration = 59; initialDepth = 128.498474; finalDepth = 128.608775; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:128.608775 # Seafloor depth:-223.608775 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 59.043660 meters # Minimum depth: 223.498474 meters looking forward 0.000000 meters along route # Maximum depth: 223.498474 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 128.498474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.119907; longitude = -119.231461; captureRadius = 10; duration = 59; initialDepth = 128.172531; finalDepth = 128.498474; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:128.498474 # Seafloor depth:-223.498474 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 59.043660 meters # Minimum depth: 223.172531 meters looking forward 0.000000 meters along route # Maximum depth: 223.172531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 128.172531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.120183; longitude = -119.231028; captureRadius = 10; duration = 59; initialDepth = 129.415488; finalDepth = 128.172531; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:128.172531 # Seafloor depth:-223.172531 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 59.043660 meters # Minimum depth: 224.415488 meters looking forward 0.000000 meters along route # Maximum depth: 224.415488 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 129.415488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.120459; longitude = -119.230594; captureRadius = 10; duration = 59; initialDepth = 134.578521; finalDepth = 129.415488; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:129.415488 # Seafloor depth:-224.415488 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 59.043660 meters # Minimum depth: 229.578521 meters looking forward 0.000000 meters along route # Maximum depth: 229.578521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 134.578521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.120802; longitude = -119.230055; captureRadius = 10; duration = 59; initialDepth = 135.015462; finalDepth = 134.578521; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:134.578521 # Seafloor depth:-229.578521 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 59.043660 meters # Minimum depth: 230.015462 meters looking forward 0.000000 meters along route # Maximum depth: 230.015462 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 135.015462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.121102; longitude = -119.229582; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 129.927448; finalDepth = 135.015462; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:135.015462 # Seafloor depth:-230.015462 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 59.043660 meters # Minimum depth: 224.927448 meters looking forward 0.000000 meters along route # Maximum depth: 224.927448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 129.927448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.121379; longitude = -119.229076; captureRadius = 10; duration = 59; initialDepth = 127.020185; finalDepth = 129.927448; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:129.927448 # Seafloor depth:-224.927448 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 59.043660 meters # Minimum depth: 222.020185 meters looking forward 0.000000 meters along route # Maximum depth: 222.020185 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 127.020185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.121703; longitude = -119.228486; captureRadius = 10; duration = 59; initialDepth = 125.812347; finalDepth = 127.020185; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:127.020185 # Seafloor depth:-222.020185 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 59.043660 meters # Minimum depth: 220.812347 meters looking forward 0.000000 meters along route # Maximum depth: 220.812347 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 125.812347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.121974; longitude = -119.227992; captureRadius = 10; duration = 59; initialDepth = 125.108431; finalDepth = 125.812347; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:125.812347 # Seafloor depth:-220.812347 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 59.043660 meters # Minimum depth: 220.108431 meters looking forward 0.000000 meters along route # Maximum depth: 220.108431 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 125.108431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.122244; longitude = -119.227499; captureRadius = 10; duration = 59; initialDepth = 121.414676; finalDepth = 125.108431; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:125.108431 # Seafloor depth:-220.108431 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 59.043660 meters # Minimum depth: 216.414676 meters looking forward 0.000000 meters along route # Maximum depth: 216.414676 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 121.414676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.122568; longitude = -119.226908; captureRadius = 10; duration = 59; initialDepth = 120.886108; finalDepth = 121.414676; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:121.414676 # Seafloor depth:-216.414676 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 59.043660 meters # Minimum depth: 215.886108 meters looking forward 0.000000 meters along route # Maximum depth: 215.886108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 120.886108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.122845; longitude = -119.226403; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 119.800209; finalDepth = 120.886108; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:120.886108 # Seafloor depth:-215.886108 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 59.043660 meters # Minimum depth: 214.800209 meters looking forward 0.000000 meters along route # Maximum depth: 214.800209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 119.800209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.122875; longitude = -119.226041; captureRadius = 10; duration = 59; initialDepth = 117.657452; finalDepth = 119.800209; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:119.800209 # Seafloor depth:-214.800209 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 59.043660 meters # Minimum depth: 212.657452 meters looking forward 0.000000 meters along route # Maximum depth: 212.657452 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 117.657452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.122930; longitude = -119.225391; captureRadius = 10; duration = 59; initialDepth = 111.480219; finalDepth = 117.657452; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:117.657452 # Seafloor depth:-212.657452 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 59.043660 meters # Minimum depth: 206.480219 meters looking forward 0.000000 meters along route # Maximum depth: 206.480219 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 111.480219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.122984; longitude = -119.224740; captureRadius = 10; duration = 59; initialDepth = 101.615936; finalDepth = 111.480219; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:111.480219 # Seafloor depth:-206.480219 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 59.043660 meters # Minimum depth: 196.615936 meters looking forward 0.000000 meters along route # Maximum depth: 196.615936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 101.615936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.123038; longitude = -119.224090; captureRadius = 10; duration = 59; initialDepth = 103.748718; finalDepth = 101.615936; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:101.615936 # Seafloor depth:-196.615936 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 59.043660 meters # Minimum depth: 198.748718 meters looking forward 0.000000 meters along route # Maximum depth: 198.748718 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 103.748718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.123086; longitude = -119.223512; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 102.435198; finalDepth = 103.748718; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:103.748718 # Seafloor depth:-198.748718 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 59.043660 meters # Minimum depth: 197.435198 meters looking forward 0.000000 meters along route # Maximum depth: 197.435198 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 102.435198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.123231; longitude = -119.223440; captureRadius = 10; duration = 59; initialDepth = 99.387418; finalDepth = 102.435198; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:102.435198 # Seafloor depth:-197.435198 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 59.043660 meters # Minimum depth: 194.387418 meters looking forward 0.000000 meters along route # Maximum depth: 194.387418 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 99.387418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.123666; longitude = -119.223223; captureRadius = 10; duration = 59; initialDepth = 98.597576; finalDepth = 99.387418; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:99.387418 # Seafloor depth:-194.387418 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 59.043660 meters # Minimum depth: 193.597576 meters looking forward 0.000000 meters along route # Maximum depth: 193.597576 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 98.597576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.124101; longitude = -119.223006; captureRadius = 10; duration = 59; initialDepth = 97.629226; finalDepth = 98.597576; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:98.597576 # Seafloor depth:-193.597576 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 59.043660 meters # Minimum depth: 192.629226 meters looking forward 0.000000 meters along route # Maximum depth: 192.629226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 97.629226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.124589; longitude = -119.222763; captureRadius = 10; duration = 59; initialDepth = 98.563476; finalDepth = 97.629226; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:97.629226 # Seafloor depth:-192.629226 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 59.043660 meters # Minimum depth: 193.563476 meters looking forward 0.000000 meters along route # Maximum depth: 193.563476 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 98.563476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.125130; longitude = -119.222493; captureRadius = 10; duration = 59; initialDepth = 95.061503; finalDepth = 98.563476; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:98.563476 # Seafloor depth:-193.563476 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 59.043660 meters # Minimum depth: 190.061503 meters looking forward 0.000000 meters along route # Maximum depth: 190.061503 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 95.061503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.125551; longitude = -119.222283; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 94.538633; finalDepth = 95.061503; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:95.061503 # Seafloor depth:-190.061503 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 59.043660 meters # Minimum depth: 189.538633 meters looking forward 0.000000 meters along route # Maximum depth: 189.538633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 94.538633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.125671; longitude = -119.222270; captureRadius = 10; duration = 59; initialDepth = 92.351654; finalDepth = 94.538633; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:94.538633 # Seafloor depth:-189.538633 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 59.043660 meters # Minimum depth: 187.351654 meters looking forward 0.000000 meters along route # Maximum depth: 187.351654 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 92.351654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.126212; longitude = -119.222211; captureRadius = 10; duration = 59; initialDepth = 90.801586; finalDepth = 92.351654; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:92.351654 # Seafloor depth:-187.351654 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 59.043660 meters # Minimum depth: 185.801586 meters looking forward 0.000000 meters along route # Maximum depth: 185.801586 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 90.801586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.126753; longitude = -119.222152; captureRadius = 10; duration = 59; initialDepth = 88.227252; finalDepth = 90.801586; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:90.801586 # Seafloor depth:-185.801586 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 59.043660 meters # Minimum depth: 183.227252 meters looking forward 0.000000 meters along route # Maximum depth: 183.227252 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 88.227252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.127294; longitude = -119.222093; captureRadius = 10; duration = 59; initialDepth = 84.769013; finalDepth = 88.227252; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:88.227252 # Seafloor depth:-183.227252 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 59.043660 meters # Minimum depth: 179.769013 meters looking forward 0.000000 meters along route # Maximum depth: 179.769013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 84.769013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.127835; longitude = -119.222034; captureRadius = 10; duration = 59; initialDepth = 81.674907; finalDepth = 84.769013; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:84.769013 # Seafloor depth:-179.769013 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 59.043660 meters # Minimum depth: 176.674907 meters looking forward 0.000000 meters along route # Maximum depth: 176.674907 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 81.674907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.128376; longitude = -119.221975; captureRadius = 10; duration = 59; initialDepth = 78.990307; finalDepth = 81.674907; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:81.674907 # Seafloor depth:-176.674907 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 59.043660 meters # Minimum depth: 173.990307 meters looking forward 0.000000 meters along route # Maximum depth: 173.990307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 78.990307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.128917; longitude = -119.221915; captureRadius = 10; duration = 59; initialDepth = 72.924967; finalDepth = 78.990307; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:78.990307 # Seafloor depth:-173.990307 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 59.043660 meters # Minimum depth: 167.924967 meters looking forward 0.000000 meters along route # Maximum depth: 167.924967 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 72.924967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.129518; longitude = -119.221850; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 73.869751; finalDepth = 72.924967; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:72.924967 # Seafloor depth:-167.924967 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 59.043660 meters # Minimum depth: 168.869751 meters looking forward 0.000000 meters along route # Maximum depth: 168.869751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 73.869751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.129638; longitude = -119.221922; captureRadius = 10; duration = 59; initialDepth = 70.388161; finalDepth = 73.869751; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:73.869751 # Seafloor depth:-168.869751 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 59.043660 meters # Minimum depth: 165.388161 meters looking forward 0.000000 meters along route # Maximum depth: 165.388161 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 70.388161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.130179; longitude = -119.222247; captureRadius = 10; duration = 59; initialDepth = 69.479752; finalDepth = 70.388161; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:70.388161 # Seafloor depth:-165.388161 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 59.043660 meters # Minimum depth: 164.479752 meters looking forward 0.000000 meters along route # Maximum depth: 164.479752 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 69.479752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.130720; longitude = -119.222572; captureRadius = 10; duration = 59; initialDepth = 64.810455; finalDepth = 69.479752; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:69.479752 # Seafloor depth:-164.479752 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 59.043660 meters # Minimum depth: 159.810455 meters looking forward 0.000000 meters along route # Maximum depth: 159.810455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 64.810455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.131261; longitude = -119.222898; captureRadius = 10; duration = 59; initialDepth = 62.588501; finalDepth = 64.810455; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:64.810455 # Seafloor depth:-159.810455 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 59.043660 meters # Minimum depth: 157.588501 meters looking forward 0.000000 meters along route # Maximum depth: 157.588501 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 62.588501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.131803; longitude = -119.223223; captureRadius = 10; duration = 59; initialDepth = 53.503235; finalDepth = 62.588501; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:62.588501 # Seafloor depth:-157.588501 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 59.043660 meters # Minimum depth: 148.503235 meters looking forward 0.000000 meters along route # Maximum depth: 148.503235 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 53.503235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.132283; longitude = -119.223512; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 47.441920; finalDepth = 53.503235; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:53.503235 # Seafloor depth:-148.503235 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 59.043660 meters # Minimum depth: 142.441920 meters looking forward 0.000000 meters along route # Maximum depth: 142.441920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 47.441920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.132524; longitude = -119.223314; captureRadius = 10; duration = 59; initialDepth = 37.890518; finalDepth = 47.441920; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:47.44192 # Seafloor depth:-142.441920 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 59.043660 meters # Minimum depth: 132.890518 meters looking forward 0.000000 meters along route # Maximum depth: 132.890518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 37.890518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.132898; longitude = -119.223006; captureRadius = 10; duration = 59; initialDepth = 9.426247; finalDepth = 37.890518; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:37.890518 # Seafloor depth:-132.890518 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 59.043660 meters # Minimum depth: 104.426247 meters looking forward 0.000000 meters along route # Maximum depth: 104.426247 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 9.426247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.133426; longitude = -119.222572; captureRadius = 10; duration = 59; initialDepth = 1.754317; finalDepth = 9.426247; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:9.426247 # Seafloor depth:-104.426247 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 59.043660 meters # Minimum depth: 96.754317 meters looking forward 0.000000 meters along route # Maximum depth: 96.754317 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 3.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.133967; longitude = -119.222127; captureRadius = 10; duration = 59; initialDepth = -4.365381; finalDepth = 3.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:3 # Seafloor depth:-96.754317 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 59.043660 meters # Minimum depth: 90.634619 meters looking forward 0.000000 meters along route # Maximum depth: 90.634619 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 3.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.134480; longitude = -119.221705; captureRadius = 10; duration = 59; initialDepth = -12.050707; finalDepth = 3.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.754317 # Actual altitude: 100 # Commanded vehicle depth:3 # Seafloor depth:-90.634619 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 59.043660 meters # Minimum depth: 82.949293 meters looking forward 0.000000 meters along route # Maximum depth: 82.949293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 3.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.134868; longitude = -119.221386; captureRadius = 10; duration = 59; initialDepth = -8.836281; finalDepth = 3.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.634619 # Actual altitude: 100 # Commanded vehicle depth:3 # Seafloor depth:-82.949293 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 59.043660 meters # Minimum depth: 86.163719 meters looking forward 0.000000 meters along route # Maximum depth: 86.163719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 3.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.135271; longitude = -119.221055; captureRadius = 10; duration = 59; initialDepth = -9.814596; finalDepth = 3.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.163719 # Actual altitude: 100 # Commanded vehicle depth:3 # Seafloor depth:-86.163719 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = RESON_DURATION; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 83.163719 # Sonar parameter altitude: 100 # Commanded vehicle depth:3 # Seafloor depth:-85.185404 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; 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 = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 59.043660 meters # Minimum depth: 85.185404 meters looking forward 0.000000 meters along route # Maximum depth: 85.185404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 500.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 3.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.135710; longitude = -119.220693; captureRadius = 10; duration = 120; initialDepth = 3.000000; finalDepth = 3.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 215.618058; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; duration = DESCEND_DURATION; } # # setpoint on surface to gather momentum behavior setpoint { duration = SETPOINT_DURATION; heading = 215.618058; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = RESON_DURATION; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 380.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.00; MB_Bottom_Detect_Filter_Max_Range = 380.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### #######################################################