# 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: MuguCanyon_1v3.rte # Mission File: MuguCanyon_1v3.cfg # Distance: 91335.887499 (m) # Estimated Time: 62306 (s) 17.307 (hr) # Abort Time: 64200 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 549 (s) # Way Points: 119 # Route Points: 1619 # 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: 40 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 740.363834 (m) # Abort Vehicle Depth: 765.363834 (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 -119.053107 33.999009 -101.348633 0.000000 3 # 1 -119.079629 34.006523 -610.187469 2588.158499 1 # 2 -119.087868 33.999310 -677.965591 3692.510732 3 # 3 -119.092565 33.999911 -668.962326 4131.561029 1 # 4 -119.096106 34.001654 -671.348923 4511.577077 1 # 5 -119.095817 34.006764 -652.591461 5079.054384 1 # 6 -119.096973 34.010671 -629.718994 5525.418915 1 # 7 -119.098202 34.016142 -640.741943 6142.842110 1 # 8 -119.100442 34.017524 -633.427795 6400.360756 1 # 9 -119.100587 34.019388 -626.982269 6607.567220 1 # 10 -119.099792 34.021131 -614.819931 6814.392988 1 # 11 -119.098708 34.022394 -618.388611 6986.597553 1 # 12 -119.096106 34.023476 -605.313080 7255.237484 1 # 13 -119.095456 34.025099 -614.895737 7445.022594 1 # 14 -119.096251 34.028225 -606.812134 7799.477697 4 # 15 -119.094805 34.028345 -604.147659 7933.691770 3 # 16 -119.094155 34.025279 -614.277756 8279.059949 1 # 17 -119.094950 34.022995 -617.440903 8542.849286 1 # 18 -119.097768 34.021732 -622.202652 8838.448867 1 # 19 -119.098635 34.020650 -625.114761 8982.738420 1 # 20 -119.099286 34.019388 -625.393051 9135.099870 1 # 21 -119.099286 34.017765 -627.947067 9315.138824 1 # 22 -119.096540 34.016442 -634.503326 9608.189407 1 # 23 -119.095383 34.010912 -647.515701 10230.870509 1 # 24 -119.094299 34.006764 -666.170242 10701.776403 1 # 25 -119.094516 34.000452 -659.350510 11402.248718 4 # 26 -119.092854 33.999310 -670.644638 11601.313145 3 # 27 -119.092637 34.006704 -643.551773 12421.768249 1 # 28 -119.093938 34.011032 -653.708618 12916.685259 1 # 29 -119.094950 34.016322 -636.662781 13510.901544 1 # 30 -119.096901 34.017224 -631.730499 13717.033459 3 # 31 -119.098274 34.012475 -626.490036 14258.890430 1 # 32 -119.097118 34.009830 -627.284073 14571.128502 1 # 33 -119.092637 34.009228 -638.123016 14990.435744 1 # 34 -119.091481 34.006042 -645.952316 15359.638774 1 # 35 -119.091047 34.004239 -649.364410 15563.623292 1 # 36 -119.091264 33.999370 -671.137711 16104.108797 4 # 37 -119.089602 33.999129 -675.311996 16259.972622 3 # 38 -119.089819 34.002556 -651.054276 16640.654474 1 # 39 -119.095817 34.002796 -670.557617 17195.433744 3 # 40 -119.096106 33.999851 -675.805420 17523.209779 1 # 41 -119.095456 33.998588 -680.781464 17675.641905 1 # 42 -119.091336 33.997145 -684.434174 18088.586364 1 # 43 -119.087579 33.995763 -682.687683 18468.056391 1 # 44 -119.080280 33.993899 -684.873428 19173.438317 1 # 45 -119.077606 33.991615 -693.115524 19527.324840 1 # 46 -119.076522 33.989270 -697.477722 19806.068807 1 # 47 -119.077244 33.968831 -727.523361 22074.307203 1 # 48 -119.070668 33.956808 -751.370117 23539.964601 4 # 49 -119.068934 33.956628 -752.822266 23701.488052 3 # 50 -119.075655 33.969072 -738.633270 25215.214649 1 # 51 -119.075076 33.989210 -712.717804 27449.721448 1 # 52 -119.076305 33.992156 -702.107010 27795.684137 1 # 53 -119.079340 33.995041 -700.681870 28221.190393 1 # 54 -119.086928 33.997025 -688.987259 28956.010345 1 # 55 -119.090397 33.998288 -680.311844 29305.804344 1 # 56 -119.094516 33.999550 -673.735489 29711.297095 4 # 57 -119.092999 34.000812 -654.482025 29909.392072 3 # 58 -119.086133 33.998227 -685.126282 30605.547652 1 # 59 -119.078545 33.996063 -700.580368 31346.583882 1 # 60 -119.074860 33.992817 -709.403687 31842.142233 1 # 61 -119.073703 33.989090 -725.773499 32269.169546 1 # 62 -119.073992 33.969372 -738.649261 34456.607531 1 # 63 -119.066983 33.956087 -753.253906 36066.390744 4 # 64 -119.065104 33.955666 -755.005859 36246.248696 3 # 65 -119.072258 33.969733 -739.883850 37940.986130 1 # 66 -119.072908 33.985964 -722.179214 39742.456114 1 # 67 -119.073992 33.988489 -726.718643 40039.920759 3 # 68 -119.077895 33.988489 -681.193832 40400.566421 1 # 69 -119.078039 33.984762 -694.404541 40814.209725 1 # 70 -119.072258 33.983439 -729.531982 41368.206101 4 # 71 -119.071102 33.982057 -720.067368 41555.056064 3 # 72 -119.070451 33.970154 -753.316406 42876.797554 1 # 73 -119.062647 33.954464 -756.749023 44760.800591 4 # 74 -119.060045 33.953201 -755.184570 45039.155017 3 # 75 -119.068572 33.970454 -749.969772 47108.916967 1 # 76 -119.069367 33.980253 -717.996933 48198.375997 4 # 77 -119.067633 33.978810 -714.553238 48424.869513 3 # 78 -119.066838 33.970635 -739.410614 49334.672730 1 # 79 -119.057733 33.952059 -756.221680 51560.487551 4 # 80 -119.055565 33.951879 -757.218750 51761.891674 3 # 81 -119.065031 33.970875 -743.163040 54043.490107 3 # 82 -119.110776 33.979351 -694.547201 58374.424693 1 # 83 -119.135347 33.972619 -717.792343 60764.864655 3 # 84 -119.137876 33.995222 -654.708237 63283.105712 1 # 85 -119.133612 34.003998 -628.795761 64333.330056 1 # 86 -119.135274 34.006583 -620.838028 64658.608615 1 # 87 -119.140478 34.011453 -592.975433 65381.784810 1 # 88 -119.146837 34.017344 -569.754333 66260.493645 1 # 89 -119.147198 34.020109 -553.548889 66569.028227 1 # 90 -119.146331 34.022454 -524.838715 66841.212289 1 # 91 -119.134263 34.035559 -453.407104 68673.092451 4 # 92 -119.132312 34.035018 -455.109322 68863.006433 3 # 93 -119.132962 34.033034 -463.111847 69091.134885 1 # 94 -119.135925 34.029487 -482.769211 69570.416282 1 # 95 -119.142212 34.023716 -522.965256 70434.730951 1 # 96 -119.144597 34.020831 -545.642014 70823.261778 1 # 97 -119.144886 34.018606 -563.621704 71071.524896 1 # 98 -119.142501 34.016442 -576.944305 71397.353107 1 # 99 -119.138165 34.013557 -588.079193 71910.050600 1 # 100 -119.134046 34.010130 -609.022369 72447.927311 1 # 101 -119.132673 34.007305 -620.079651 72786.004560 1 # 102 -119.132022 34.004239 -629.909439 73131.396134 1 # 103 -119.136142 33.995041 -651.297043 74220.433646 1 # 104 -119.133829 33.971717 -720.119141 76816.599869 4 # 105 -119.132095 33.971897 -722.024796 76978.099730 3 # 106 -119.134407 33.994861 -648.815231 79534.458805 1 # 107 -119.132239 34.000632 -636.810379 80205.248687 3 # 108 -119.132528 33.994801 -648.260468 80852.638335 1 # 109 -119.130360 33.971717 -723.426285 83421.188483 4 # 110 -119.128626 33.971897 -721.649506 83582.688092 3 # 111 -119.131661 34.002015 -634.071213 86935.449821 1 # 112 -119.133612 34.006163 -623.458603 87429.636406 1 # 113 -119.135780 34.009048 -608.853043 87807.179660 1 # 114 -119.139177 34.012535 -590.875549 88305.285184 1 # 115 -119.145103 34.017344 -572.247879 89069.655209 1 # 116 -119.145753 34.020049 -555.955231 89375.674341 1 # 117 -119.143152 34.024197 -516.689072 89894.764602 1 # 118 -119.133612 34.034477 -457.869400 91335.887499 4 # # A total of 1619 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 91335.887499 #define MISSION_TIME 62306 #define MISSION_TIMEOUT 64200 #define DEPTH_MAX 740.363834 #define DEPTH_ABORT 765.363834 #define ALTITUDE_DESIRED 40.000000 #define ALTITUDE_MIN 50.000000 #define ALTITUDE_ABORT 30.000000 #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 = 549; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # 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 118 # Segment length 56.463859 meters # Minimum depth: 457.869400 meters looking forward 0.000000 meters along route # Maximum depth: 457.869400 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.869400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034477; longitude = -119.133612; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 418.501162; finalDepth = 417.869400; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:417.8694 # Seafloor depth:-457.869400 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 56.463859 meters # Minimum depth: 458.501162 meters looking forward 0.000000 meters along route # Maximum depth: 458.501162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.501162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034417; longitude = -119.133668; captureRadius = 10; duration = 56; initialDepth = 419.710713; finalDepth = 418.501162; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:418.501162 # Seafloor depth:-458.501162 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 56.463859 meters # Minimum depth: 459.710713 meters looking forward 0.000000 meters along route # Maximum depth: 459.710713 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.710713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034056; longitude = -119.134003; captureRadius = 10; duration = 56; initialDepth = 420.839250; finalDepth = 419.710713; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:419.710713 # Seafloor depth:-459.710713 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 56.463859 meters # Minimum depth: 460.839250 meters looking forward 0.000000 meters along route # Maximum depth: 460.839250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 420.839250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033695; longitude = -119.134338; captureRadius = 10; duration = 56; initialDepth = 422.781326; finalDepth = 420.839250; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:420.83925 # Seafloor depth:-460.839250 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 56.463859 meters # Minimum depth: 462.781326 meters looking forward 0.000000 meters along route # Maximum depth: 462.781326 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 422.781326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033334; longitude = -119.134672; captureRadius = 10; duration = 56; initialDepth = 424.489814; finalDepth = 422.781326; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:422.781326 # Seafloor depth:-462.781326 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 56.463859 meters # Minimum depth: 464.489814 meters looking forward 0.000000 meters along route # Maximum depth: 464.489814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 424.489814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032974; longitude = -119.135007; captureRadius = 10; duration = 56; initialDepth = 425.888607; finalDepth = 424.489814; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:424.489814 # Seafloor depth:-464.489814 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 56.463859 meters # Minimum depth: 465.888607 meters looking forward 0.000000 meters along route # Maximum depth: 465.888607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 425.888607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032613; longitude = -119.135342; captureRadius = 10; duration = 56; initialDepth = 427.610917; finalDepth = 425.888607; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:425.888607 # Seafloor depth:-465.888607 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 56.463859 meters # Minimum depth: 467.610917 meters looking forward 0.000000 meters along route # Maximum depth: 467.610917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 427.610917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032252; longitude = -119.135676; captureRadius = 10; duration = 56; initialDepth = 429.280737; finalDepth = 427.610917; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:427.610917 # Seafloor depth:-467.610917 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 56.463859 meters # Minimum depth: 469.280737 meters looking forward 0.000000 meters along route # Maximum depth: 469.280737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 429.280737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031892; longitude = -119.136011; captureRadius = 10; duration = 56; initialDepth = 431.057423; finalDepth = 429.280737; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:429.280737 # Seafloor depth:-469.280737 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 56.463859 meters # Minimum depth: 471.057423 meters looking forward 0.000000 meters along route # Maximum depth: 471.057423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 431.057423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031531; longitude = -119.136346; captureRadius = 10; duration = 56; initialDepth = 433.478810; finalDepth = 431.057423; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:431.057423 # Seafloor depth:-471.057423 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 56.463859 meters # Minimum depth: 473.478810 meters looking forward 0.000000 meters along route # Maximum depth: 473.478810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 433.478810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031170; longitude = -119.136681; captureRadius = 10; duration = 56; initialDepth = 435.564779; finalDepth = 433.478810; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:433.47881 # Seafloor depth:-473.478810 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 56.463859 meters # Minimum depth: 475.564779 meters looking forward 0.000000 meters along route # Maximum depth: 475.564779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 435.564779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030810; longitude = -119.137015; captureRadius = 10; duration = 56; initialDepth = 437.328603; finalDepth = 435.564779; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:435.564779 # Seafloor depth:-475.564779 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 56.463859 meters # Minimum depth: 477.328603 meters looking forward 0.000000 meters along route # Maximum depth: 477.328603 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.328603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030449; longitude = -119.137350; captureRadius = 10; duration = 56; initialDepth = 438.095103; finalDepth = 437.328603; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:437.328603 # Seafloor depth:-477.328603 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 56.463859 meters # Minimum depth: 478.095103 meters looking forward 0.000000 meters along route # Maximum depth: 478.095103 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 438.095103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030088; longitude = -119.137685; captureRadius = 10; duration = 56; initialDepth = 439.849052; finalDepth = 438.095103; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:438.095103 # Seafloor depth:-478.095103 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 56.463859 meters # Minimum depth: 479.849052 meters looking forward 0.000000 meters along route # Maximum depth: 479.849052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 439.849052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029726; longitude = -119.138021; captureRadius = 10; duration = 56; initialDepth = 441.343092; finalDepth = 439.849052; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:439.849052 # Seafloor depth:-479.849052 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 56.463859 meters # Minimum depth: 481.343092 meters looking forward 0.000000 meters along route # Maximum depth: 481.343092 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 441.343092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029367; longitude = -119.138354; captureRadius = 10; duration = 56; initialDepth = 442.843690; finalDepth = 441.343092; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:441.343092 # Seafloor depth:-481.343092 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 56.463859 meters # Minimum depth: 482.843690 meters looking forward 0.000000 meters along route # Maximum depth: 482.843690 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.843690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029006; longitude = -119.138689; captureRadius = 10; duration = 56; initialDepth = 442.706114; finalDepth = 442.843690; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:442.84369 # Seafloor depth:-482.843690 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 56.463859 meters # Minimum depth: 482.706114 meters looking forward 0.000000 meters along route # Maximum depth: 482.706114 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.706114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028646; longitude = -119.139024; captureRadius = 10; duration = 56; initialDepth = 443.475678; finalDepth = 442.706114; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:442.706114 # Seafloor depth:-482.706114 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 56.463859 meters # Minimum depth: 483.475678 meters looking forward 0.000000 meters along route # Maximum depth: 483.475678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.475678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028285; longitude = -119.139358; captureRadius = 10; duration = 56; initialDepth = 444.600229; finalDepth = 443.475678; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:443.475678 # Seafloor depth:-483.475678 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 56.463859 meters # Minimum depth: 484.600229 meters looking forward 0.000000 meters along route # Maximum depth: 484.600229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 444.600229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027924; longitude = -119.139693; captureRadius = 10; duration = 56; initialDepth = 446.607304; finalDepth = 444.600229; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:444.600229 # Seafloor depth:-484.600229 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 56.463859 meters # Minimum depth: 486.607304 meters looking forward 0.000000 meters along route # Maximum depth: 486.607304 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 446.607304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027563; longitude = -119.140028; captureRadius = 10; duration = 56; initialDepth = 449.168734; finalDepth = 446.607304; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:446.607304 # Seafloor depth:-486.607304 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 56.463859 meters # Minimum depth: 489.168734 meters looking forward 0.000000 meters along route # Maximum depth: 489.168734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 449.168734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027203; longitude = -119.140363; captureRadius = 10; duration = 56; initialDepth = 451.563037; finalDepth = 449.168734; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:449.168734 # Seafloor depth:-489.168734 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 56.463859 meters # Minimum depth: 491.563037 meters looking forward 0.000000 meters along route # Maximum depth: 491.563037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 451.563037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026842; longitude = -119.140697; captureRadius = 10; duration = 56; initialDepth = 453.700937; finalDepth = 451.563037; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:451.563037 # Seafloor depth:-491.563037 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 56.463859 meters # Minimum depth: 493.700937 meters looking forward 0.000000 meters along route # Maximum depth: 493.700937 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.700937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026481; longitude = -119.141032; captureRadius = 10; duration = 56; initialDepth = 457.736813; finalDepth = 453.700937; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:453.700937 # Seafloor depth:-493.700937 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 56.463859 meters # Minimum depth: 497.736813 meters looking forward 0.000000 meters along route # Maximum depth: 497.736813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.736813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026121; longitude = -119.141367; captureRadius = 10; duration = 56; initialDepth = 461.036009; finalDepth = 457.736813; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:457.736813 # Seafloor depth:-497.736813 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 56.463859 meters # Minimum depth: 501.036009 meters looking forward 0.000000 meters along route # Maximum depth: 501.036009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 461.036009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025760; longitude = -119.141701; captureRadius = 10; duration = 56; initialDepth = 464.693072; finalDepth = 461.036009; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:461.036009 # Seafloor depth:-501.036009 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 56.463859 meters # Minimum depth: 504.693072 meters looking forward 0.000000 meters along route # Maximum depth: 504.693072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 464.693072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025399; longitude = -119.142036; captureRadius = 10; duration = 56; initialDepth = 469.989397; finalDepth = 464.693072; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:464.693072 # Seafloor depth:-504.693072 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 56.463859 meters # Minimum depth: 509.989397 meters looking forward 0.000000 meters along route # Maximum depth: 509.989397 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 469.989397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025039; longitude = -119.142371; captureRadius = 10; duration = 56; initialDepth = 472.426521; finalDepth = 469.989397; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:469.989397 # Seafloor depth:-509.989397 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 56.463859 meters # Minimum depth: 512.426521 meters looking forward 0.000000 meters along route # Maximum depth: 512.426521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.426521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024587; longitude = -119.142790; captureRadius = 10; duration = 56; initialDepth = 476.689072; finalDepth = 472.426521; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:472.426521 # Seafloor depth:-512.426521 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 117 # Segment length 56.463859 meters # Minimum depth: 516.689072 meters looking forward 0.000000 meters along route # Maximum depth: 516.689072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.689072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024197; longitude = -119.143152; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 480.087650; finalDepth = 476.689072; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:476.689072 # Seafloor depth:-516.689072 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 56.463859 meters # Minimum depth: 520.087650 meters looking forward 0.000000 meters along route # Maximum depth: 520.087650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.087650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024083; longitude = -119.143224; captureRadius = 10; duration = 56; initialDepth = 485.356228; finalDepth = 480.087650; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:480.08765 # Seafloor depth:-520.087650 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 56.463859 meters # Minimum depth: 525.356228 meters looking forward 0.000000 meters along route # Maximum depth: 525.356228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.356228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023596; longitude = -119.143529; captureRadius = 10; duration = 56; initialDepth = 491.431964; finalDepth = 485.356228; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:485.356228 # Seafloor depth:-525.356228 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 56.463859 meters # Minimum depth: 531.431964 meters looking forward 0.000000 meters along route # Maximum depth: 531.431964 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 491.431964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023045; longitude = -119.143874; captureRadius = 10; duration = 56; initialDepth = 497.289156; finalDepth = 491.431964; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:491.431964 # Seafloor depth:-531.431964 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 56.463859 meters # Minimum depth: 537.289156 meters looking forward 0.000000 meters along route # Maximum depth: 537.289156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 497.289156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022514; longitude = -119.144207; captureRadius = 10; duration = 56; initialDepth = 503.275416; finalDepth = 497.289156; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:497.289156 # Seafloor depth:-537.289156 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 56.463859 meters # Minimum depth: 543.275416 meters looking forward 0.000000 meters along route # Maximum depth: 543.275416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.275416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021973; longitude = -119.144547; captureRadius = 10; duration = 56; initialDepth = 506.950782; finalDepth = 503.275416; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.275416 # Seafloor depth:-543.275416 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 56.463859 meters # Minimum depth: 546.950782 meters looking forward 0.000000 meters along route # Maximum depth: 546.950782 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.950782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021432; longitude = -119.144886; captureRadius = 10; duration = 56; initialDepth = 511.140431; finalDepth = 506.950782; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.950782 # Seafloor depth:-546.950782 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 56.463859 meters # Minimum depth: 551.140431 meters looking forward 0.000000 meters along route # Maximum depth: 551.140431 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.140431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020971; longitude = -119.145175; captureRadius = 10; duration = 56; initialDepth = 511.705473; finalDepth = 511.140431; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:511.140431 # Seafloor depth:-551.140431 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 56.463859 meters # Minimum depth: 551.705473 meters looking forward 0.000000 meters along route # Maximum depth: 551.705473 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.705473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020530; longitude = -119.145451; captureRadius = 10; duration = 56; initialDepth = 515.955231; finalDepth = 511.705473; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:511.705473 # Seafloor depth:-551.705473 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 116 # Segment length 56.463859 meters # Minimum depth: 555.955231 meters looking forward 0.000000 meters along route # Maximum depth: 555.955231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.955231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020049; longitude = -119.145753; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 516.653692; finalDepth = 515.955231; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:515.955231 # Seafloor depth:-555.955231 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 56.463859 meters # Minimum depth: 556.653692 meters looking forward 0.000000 meters along route # Maximum depth: 556.653692 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 516.653692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019989; longitude = -119.145739; captureRadius = 10; duration = 56; initialDepth = 518.897887; finalDepth = 516.653692; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:516.653692 # Seafloor depth:-556.653692 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 56.463859 meters # Minimum depth: 558.897887 meters looking forward 0.000000 meters along route # Maximum depth: 558.897887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.897887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019448; longitude = -119.145609; captureRadius = 10; duration = 56; initialDepth = 522.216984; finalDepth = 518.897887; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:518.897887 # Seafloor depth:-558.897887 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 56.463859 meters # Minimum depth: 562.216984 meters looking forward 0.000000 meters along route # Maximum depth: 562.216984 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.216984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018907; longitude = -119.145479; captureRadius = 10; duration = 56; initialDepth = 527.353545; finalDepth = 522.216984; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:522.216984 # Seafloor depth:-562.216984 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 56.463859 meters # Minimum depth: 567.353545 meters looking forward 0.000000 meters along route # Maximum depth: 567.353545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.353545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018366; longitude = -119.145349; captureRadius = 10; duration = 56; initialDepth = 531.219678; finalDepth = 527.353545; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:527.353545 # Seafloor depth:-567.353545 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 56.463859 meters # Minimum depth: 571.219678 meters looking forward 0.000000 meters along route # Maximum depth: 571.219678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.219678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017825; longitude = -119.145219; captureRadius = 10; duration = 56; initialDepth = 532.247879; finalDepth = 531.219678; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:531.219678 # Seafloor depth:-571.219678 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 115 # Segment length 56.463859 meters # Minimum depth: 572.247879 meters looking forward 0.000000 meters along route # Maximum depth: 572.247879 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.247879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017344; longitude = -119.145103; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 532.617862; finalDepth = 532.247879; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:532.247879 # Seafloor depth:-572.247879 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 56.463859 meters # Minimum depth: 572.617862 meters looking forward 0.000000 meters along route # Maximum depth: 572.617862 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.617862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017226; longitude = -119.144958; captureRadius = 10; duration = 56; initialDepth = 533.410138; finalDepth = 532.617862; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:532.617862 # Seafloor depth:-572.617862 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 56.463859 meters # Minimum depth: 573.410138 meters looking forward 0.000000 meters along route # Maximum depth: 573.410138 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.410138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016875; longitude = -119.144525; captureRadius = 10; duration = 56; initialDepth = 534.974405; finalDepth = 533.410138; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:533.410138 # Seafloor depth:-573.410138 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 56.463859 meters # Minimum depth: 574.974405 meters looking forward 0.000000 meters along route # Maximum depth: 574.974405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.974405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016523; longitude = -119.144091; captureRadius = 10; duration = 56; initialDepth = 536.383203; finalDepth = 534.974405; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.974405 # Seafloor depth:-574.974405 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 56.463859 meters # Minimum depth: 576.383203 meters looking forward 0.000000 meters along route # Maximum depth: 576.383203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.383203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016171; longitude = -119.143657; captureRadius = 10; duration = 56; initialDepth = 537.820527; finalDepth = 536.383203; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.383203 # Seafloor depth:-576.383203 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 56.463859 meters # Minimum depth: 577.820527 meters looking forward 0.000000 meters along route # Maximum depth: 577.820527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.820527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015819; longitude = -119.143224; captureRadius = 10; duration = 56; initialDepth = 538.102048; finalDepth = 537.820527; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.820527 # Seafloor depth:-577.820527 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 56.463859 meters # Minimum depth: 578.102048 meters looking forward 0.000000 meters along route # Maximum depth: 578.102048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.102048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015467; longitude = -119.142790; captureRadius = 10; duration = 56; initialDepth = 540.191378; finalDepth = 538.102048; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.102048 # Seafloor depth:-578.102048 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 56.463859 meters # Minimum depth: 580.191378 meters looking forward 0.000000 meters along route # Maximum depth: 580.191378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.191378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015115; longitude = -119.142357; captureRadius = 10; duration = 56; initialDepth = 541.807629; finalDepth = 540.191378; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.191378 # Seafloor depth:-580.191378 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 56.463859 meters # Minimum depth: 581.807629 meters looking forward 0.000000 meters along route # Maximum depth: 581.807629 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.807629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014759; longitude = -119.141918; captureRadius = 10; duration = 56; initialDepth = 542.661890; finalDepth = 541.807629; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:541.807629 # Seafloor depth:-581.807629 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 56.463859 meters # Minimum depth: 582.661890 meters looking forward 0.000000 meters along route # Maximum depth: 582.661890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.661890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014398; longitude = -119.141473; captureRadius = 10; duration = 56; initialDepth = 543.857493; finalDepth = 542.661890; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:542.66189 # Seafloor depth:-582.661890 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 56.463859 meters # Minimum depth: 583.857493 meters looking forward 0.000000 meters along route # Maximum depth: 583.857493 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.857493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014038; longitude = -119.141029; captureRadius = 10; duration = 56; initialDepth = 546.673143; finalDepth = 543.857493; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.857493 # Seafloor depth:-583.857493 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 56.463859 meters # Minimum depth: 586.673143 meters looking forward 0.000000 meters along route # Maximum depth: 586.673143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.673143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013677; longitude = -119.140584; captureRadius = 10; duration = 56; initialDepth = 547.588093; finalDepth = 546.673143; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:546.673143 # Seafloor depth:-586.673143 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 56.463859 meters # Minimum depth: 587.588093 meters looking forward 0.000000 meters along route # Maximum depth: 587.588093 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.588093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013316; longitude = -119.140140; captureRadius = 10; duration = 56; initialDepth = 549.210665; finalDepth = 547.588093; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.588093 # Seafloor depth:-587.588093 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 56.463859 meters # Minimum depth: 589.210665 meters looking forward 0.000000 meters along route # Maximum depth: 589.210665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.210665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012956; longitude = -119.139695; captureRadius = 10; duration = 56; initialDepth = 550.875549; finalDepth = 549.210665; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:549.210665 # Seafloor depth:-589.210665 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 114 # Segment length 56.463859 meters # Minimum depth: 590.875549 meters looking forward 0.000000 meters along route # Maximum depth: 590.875549 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.875549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012535; longitude = -119.139177; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 551.396978; finalDepth = 550.875549; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:550.875549 # Seafloor depth:-590.875549 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 56.463859 meters # Minimum depth: 591.396978 meters looking forward 0.000000 meters along route # Maximum depth: 591.396978 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.396978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012415; longitude = -119.139060; captureRadius = 10; duration = 56; initialDepth = 552.502255; finalDepth = 551.396978; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.396978 # Seafloor depth:-591.396978 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 56.463859 meters # Minimum depth: 592.502255 meters looking forward 0.000000 meters along route # Maximum depth: 592.502255 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.502255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012054; longitude = -119.138708; captureRadius = 10; duration = 56; initialDepth = 553.751279; finalDepth = 552.502255; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.502255 # Seafloor depth:-592.502255 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 56.463859 meters # Minimum depth: 593.751279 meters looking forward 0.000000 meters along route # Maximum depth: 593.751279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.751279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011693; longitude = -119.138357; captureRadius = 10; duration = 56; initialDepth = 555.503911; finalDepth = 553.751279; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.751279 # Seafloor depth:-593.751279 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 56.463859 meters # Minimum depth: 595.503911 meters looking forward 0.000000 meters along route # Maximum depth: 595.503911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.503911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011332; longitude = -119.138006; captureRadius = 10; duration = 56; initialDepth = 557.241213; finalDepth = 555.503911; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:555.503911 # Seafloor depth:-595.503911 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 56.463859 meters # Minimum depth: 597.241213 meters looking forward 0.000000 meters along route # Maximum depth: 597.241213 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.241213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010972; longitude = -119.137654; captureRadius = 10; duration = 56; initialDepth = 559.066755; finalDepth = 557.241213; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.241213 # Seafloor depth:-597.241213 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 56.463859 meters # Minimum depth: 599.066755 meters looking forward 0.000000 meters along route # Maximum depth: 599.066755 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.066755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010611; longitude = -119.137303; captureRadius = 10; duration = 56; initialDepth = 561.231106; finalDepth = 559.066755; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.066755 # Seafloor depth:-599.066755 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 56.463859 meters # Minimum depth: 601.231106 meters looking forward 0.000000 meters along route # Maximum depth: 601.231106 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.231106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010250; longitude = -119.136951; captureRadius = 10; duration = 56; initialDepth = 563.449805; finalDepth = 561.231106; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.231106 # Seafloor depth:-601.231106 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 56.463859 meters # Minimum depth: 603.449805 meters looking forward 0.000000 meters along route # Maximum depth: 603.449805 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.449805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009890; longitude = -119.136600; captureRadius = 10; duration = 56; initialDepth = 565.930535; finalDepth = 563.449805; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.449805 # Seafloor depth:-603.449805 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 56.463859 meters # Minimum depth: 605.930535 meters looking forward 0.000000 meters along route # Maximum depth: 605.930535 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.930535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009529; longitude = -119.136249; captureRadius = 10; duration = 56; initialDepth = 568.853043; finalDepth = 565.930535; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.930535 # Seafloor depth:-605.930535 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 113 # Segment length 56.463859 meters # Minimum depth: 608.853043 meters looking forward 0.000000 meters along route # Maximum depth: 608.853043 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 568.853043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009048; longitude = -119.135780; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 569.692983; finalDepth = 568.853043; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:568.853043 # Seafloor depth:-608.853043 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 56.463859 meters # Minimum depth: 609.692983 meters looking forward 0.000000 meters along route # Maximum depth: 609.692983 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.692983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008856; longitude = -119.135636; captureRadius = 10; duration = 56; initialDepth = 572.340889; finalDepth = 569.692983; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.692983 # Seafloor depth:-609.692983 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 56.463859 meters # Minimum depth: 612.340889 meters looking forward 0.000000 meters along route # Maximum depth: 612.340889 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.340889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008447; longitude = -119.135328; captureRadius = 10; duration = 56; initialDepth = 575.453415; finalDepth = 572.340889; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:572.340889 # Seafloor depth:-612.340889 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 56.463859 meters # Minimum depth: 615.453415 meters looking forward 0.000000 meters along route # Maximum depth: 615.453415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.453415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007906; longitude = -119.134922; captureRadius = 10; duration = 56; initialDepth = 577.784871; finalDepth = 575.453415; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.453415 # Seafloor depth:-615.453415 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 56.463859 meters # Minimum depth: 617.784871 meters looking forward 0.000000 meters along route # Maximum depth: 617.784871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.784871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007414; longitude = -119.134552; captureRadius = 10; duration = 56; initialDepth = 580.644112; finalDepth = 577.784871; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.784871 # Seafloor depth:-617.784871 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 56.463859 meters # Minimum depth: 620.644112 meters looking forward 0.000000 meters along route # Maximum depth: 620.644112 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.644112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007004; longitude = -119.134244; captureRadius = 10; duration = 56; initialDepth = 582.166329; finalDepth = 580.644112; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.644112 # Seafloor depth:-620.644112 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 56.463859 meters # Minimum depth: 622.166329 meters looking forward 0.000000 meters along route # Maximum depth: 622.166329 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.166329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006548; longitude = -119.133901; captureRadius = 10; duration = 56; initialDepth = 583.458603; finalDepth = 582.166329; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.166329 # Seafloor depth:-622.166329 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 112 # Segment length 56.463859 meters # Minimum depth: 623.458603 meters looking forward 0.000000 meters along route # Maximum depth: 623.458603 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.458603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006163; longitude = -119.133612; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 584.108071; finalDepth = 583.458603; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:583.458603 # Seafloor depth:-623.458603 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 56.463859 meters # Minimum depth: 624.108071 meters looking forward 0.000000 meters along route # Maximum depth: 624.108071 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.108071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005856; longitude = -119.133468; captureRadius = 10; duration = 56; initialDepth = 585.088689; finalDepth = 584.108071; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.108071 # Seafloor depth:-624.108071 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 56.463859 meters # Minimum depth: 625.088689 meters looking forward 0.000000 meters along route # Maximum depth: 625.088689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.088689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005381; longitude = -119.133244; captureRadius = 10; duration = 56; initialDepth = 587.858085; finalDepth = 585.088689; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.088689 # Seafloor depth:-625.088689 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 56.463859 meters # Minimum depth: 627.858085 meters looking forward 0.000000 meters along route # Maximum depth: 627.858085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.858085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004935; longitude = -119.133034; captureRadius = 10; duration = 56; initialDepth = 588.465169; finalDepth = 587.858085; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.858085 # Seafloor depth:-627.858085 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 56.463859 meters # Minimum depth: 628.465169 meters looking forward 0.000000 meters along route # Maximum depth: 628.465169 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.465169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004474; longitude = -119.132817; captureRadius = 10; duration = 56; initialDepth = 589.438355; finalDepth = 588.465169; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.465169 # Seafloor depth:-628.465169 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 56.463859 meters # Minimum depth: 629.438355 meters looking forward 0.000000 meters along route # Maximum depth: 629.438355 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.438355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004013; longitude = -119.132601; captureRadius = 10; duration = 56; initialDepth = 589.903960; finalDepth = 589.438355; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:589.438355 # Seafloor depth:-629.438355 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 56.463859 meters # Minimum depth: 629.903960 meters looking forward 0.000000 meters along route # Maximum depth: 629.903960 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.903960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003552; longitude = -119.132384; captureRadius = 10; duration = 56; initialDepth = 591.841742; finalDepth = 589.903960; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:589.90396 # Seafloor depth:-629.903960 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 56.463859 meters # Minimum depth: 631.841742 meters looking forward 0.000000 meters along route # Maximum depth: 631.841742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.841742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003037; longitude = -119.132142; captureRadius = 10; duration = 56; initialDepth = 591.532316; finalDepth = 591.841742; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.841742 # Seafloor depth:-631.841742 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 56.463859 meters # Minimum depth: 631.532316 meters looking forward 0.000000 meters along route # Maximum depth: 631.532316 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.532316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002496; longitude = -119.131887; captureRadius = 10; duration = 56; initialDepth = 594.071213; finalDepth = 591.532316; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.532316 # Seafloor depth:-631.532316 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 111 # Segment length 56.463859 meters # Minimum depth: 634.071213 meters looking forward 0.000000 meters along route # Maximum depth: 634.071213 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.071213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002015; longitude = -119.131661; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 594.601637; finalDepth = 594.071213; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.071213 # Seafloor depth:-634.071213 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 634.601637 meters looking forward 0.000000 meters along route # Maximum depth: 634.601637 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.601637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001594; longitude = -119.131619; captureRadius = 10; duration = 56; initialDepth = 595.355895; finalDepth = 594.601637; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.601637 # Seafloor depth:-634.601637 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 635.355895 meters looking forward 0.000000 meters along route # Maximum depth: 635.355895 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.355895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001053; longitude = -119.131564; captureRadius = 10; duration = 56; initialDepth = 596.087714; finalDepth = 595.355895; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:595.355895 # Seafloor depth:-635.355895 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 636.087714 meters looking forward 0.000000 meters along route # Maximum depth: 636.087714 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.087714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000512; longitude = -119.131510; captureRadius = 10; duration = 56; initialDepth = 598.034592; finalDepth = 596.087714; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.087714 # Seafloor depth:-636.087714 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 638.034592 meters looking forward 0.000000 meters along route # Maximum depth: 638.034592 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 598.034592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999971; longitude = -119.131455; captureRadius = 10; duration = 56; initialDepth = 598.758669; finalDepth = 598.034592; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:598.034592 # Seafloor depth:-638.034592 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 638.758669 meters looking forward 0.000000 meters along route # Maximum depth: 638.758669 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 598.758669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999430; longitude = -119.131400; captureRadius = 10; duration = 56; initialDepth = 600.417621; finalDepth = 598.758669; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:598.758669 # Seafloor depth:-638.758669 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 640.417621 meters looking forward 0.000000 meters along route # Maximum depth: 640.417621 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.417621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998889; longitude = -119.131346; captureRadius = 10; duration = 56; initialDepth = 601.566020; finalDepth = 600.417621; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:600.417621 # Seafloor depth:-640.417621 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 641.566020 meters looking forward 0.000000 meters along route # Maximum depth: 641.566020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 601.566020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998348; longitude = -119.131291; captureRadius = 10; duration = 56; initialDepth = 602.473408; finalDepth = 601.566020; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:601.56602 # Seafloor depth:-641.566020 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 642.473408 meters looking forward 0.000000 meters along route # Maximum depth: 642.473408 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 602.473408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997807; longitude = -119.131237; captureRadius = 10; duration = 56; initialDepth = 603.244883; finalDepth = 602.473408; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:602.473408 # Seafloor depth:-642.473408 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 643.244883 meters looking forward 0.000000 meters along route # Maximum depth: 643.244883 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.244883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997266; longitude = -119.131182; captureRadius = 10; duration = 56; initialDepth = 604.181801; finalDepth = 603.244883; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:603.244883 # Seafloor depth:-643.244883 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 644.181801 meters looking forward 0.000000 meters along route # Maximum depth: 644.181801 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 604.181801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996725; longitude = -119.131128; captureRadius = 10; duration = 56; initialDepth = 605.569591; finalDepth = 604.181801; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:604.181801 # Seafloor depth:-644.181801 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 645.569591 meters looking forward 0.000000 meters along route # Maximum depth: 645.569591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.569591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996184; longitude = -119.131073; captureRadius = 10; duration = 56; initialDepth = 607.005445; finalDepth = 605.569591; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:605.569591 # Seafloor depth:-645.569591 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 647.005445 meters looking forward 0.000000 meters along route # Maximum depth: 647.005445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.005445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995643; longitude = -119.131019; captureRadius = 10; duration = 56; initialDepth = 607.286279; finalDepth = 607.005445; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:607.005445 # Seafloor depth:-647.005445 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 647.286279 meters looking forward 0.000000 meters along route # Maximum depth: 647.286279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.286279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995101; longitude = -119.130964; captureRadius = 10; duration = 56; initialDepth = 608.513688; finalDepth = 607.286279; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:607.286279 # Seafloor depth:-647.286279 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 648.513688 meters looking forward 0.000000 meters along route # Maximum depth: 648.513688 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.513688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994560; longitude = -119.130910; captureRadius = 10; duration = 56; initialDepth = 608.282050; finalDepth = 608.513688; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.513688 # Seafloor depth:-648.513688 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 648.282050 meters looking forward 0.000000 meters along route # Maximum depth: 648.282050 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.282050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994019; longitude = -119.130855; captureRadius = 10; duration = 56; initialDepth = 608.754635; finalDepth = 608.282050; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.28205 # Seafloor depth:-648.282050 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 648.754635 meters looking forward 0.000000 meters along route # Maximum depth: 648.754635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.754635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.993478; longitude = -119.130801; captureRadius = 10; duration = 56; initialDepth = 608.262379; finalDepth = 608.754635; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.754635 # Seafloor depth:-648.754635 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 648.262379 meters looking forward 0.000000 meters along route # Maximum depth: 648.262379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.262379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.992937; longitude = -119.130746; captureRadius = 10; duration = 56; initialDepth = 604.907335; finalDepth = 608.262379; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.262379 # Seafloor depth:-648.262379 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 644.907335 meters looking forward 0.000000 meters along route # Maximum depth: 644.907335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 604.907335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.992396; longitude = -119.130692; captureRadius = 10; duration = 56; initialDepth = 615.295807; finalDepth = 604.907335; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:604.907335 # Seafloor depth:-644.907335 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 655.295807 meters looking forward 0.000000 meters along route # Maximum depth: 655.295807 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 615.295807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.991855; longitude = -119.130637; captureRadius = 10; duration = 56; initialDepth = 615.570045; finalDepth = 615.295807; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:615.295807 # Seafloor depth:-655.295807 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 655.570045 meters looking forward 0.000000 meters along route # Maximum depth: 655.570045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 615.570045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.991314; longitude = -119.130583; captureRadius = 10; duration = 56; initialDepth = 617.635159; finalDepth = 615.570045; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:615.570045 # Seafloor depth:-655.570045 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 657.635159 meters looking forward 0.000000 meters along route # Maximum depth: 657.635159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 617.635159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.990773; longitude = -119.130528; captureRadius = 10; duration = 56; initialDepth = 619.165957; finalDepth = 617.635159; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:617.635159 # Seafloor depth:-657.635159 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 659.165957 meters looking forward 0.000000 meters along route # Maximum depth: 659.165957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.165957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.990232; longitude = -119.130474; captureRadius = 10; duration = 56; initialDepth = 619.689908; finalDepth = 619.165957; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.165957 # Seafloor depth:-659.165957 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 659.689908 meters looking forward 0.000000 meters along route # Maximum depth: 659.689908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.689908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.989691; longitude = -119.130419; captureRadius = 10; duration = 56; initialDepth = 621.418528; finalDepth = 619.689908; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.689908 # Seafloor depth:-659.689908 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 661.418528 meters looking forward 0.000000 meters along route # Maximum depth: 661.418528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.418528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.989150; longitude = -119.130365; captureRadius = 10; duration = 56; initialDepth = 622.675228; finalDepth = 621.418528; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:621.418528 # Seafloor depth:-661.418528 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 662.675228 meters looking forward 0.000000 meters along route # Maximum depth: 662.675228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.675228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.988609; longitude = -119.130310; captureRadius = 10; duration = 56; initialDepth = 625.801039; finalDepth = 622.675228; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:622.675228 # Seafloor depth:-662.675228 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 665.801039 meters looking forward 0.000000 meters along route # Maximum depth: 665.801039 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 625.801039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.988068; longitude = -119.130256; captureRadius = 10; duration = 56; initialDepth = 628.094703; finalDepth = 625.801039; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:625.801039 # Seafloor depth:-665.801039 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 668.094703 meters looking forward 0.000000 meters along route # Maximum depth: 668.094703 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.094703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.987527; longitude = -119.130201; captureRadius = 10; duration = 56; initialDepth = 631.131294; finalDepth = 628.094703; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:628.094703 # Seafloor depth:-668.094703 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 671.131294 meters looking forward 0.000000 meters along route # Maximum depth: 671.131294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 631.131294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.986986; longitude = -119.130147; captureRadius = 10; duration = 56; initialDepth = 632.132479; finalDepth = 631.131294; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:631.131294 # Seafloor depth:-671.131294 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 672.132479 meters looking forward 0.000000 meters along route # Maximum depth: 672.132479 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 632.132479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.986445; longitude = -119.130092; captureRadius = 10; duration = 56; initialDepth = 632.123479; finalDepth = 632.132479; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:632.132479 # Seafloor depth:-672.132479 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 672.123479 meters looking forward 0.000000 meters along route # Maximum depth: 672.123479 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 632.123479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.985904; longitude = -119.130037; captureRadius = 10; duration = 56; initialDepth = 633.567022; finalDepth = 632.123479; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:632.123479 # Seafloor depth:-672.123479 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 673.567022 meters looking forward 0.000000 meters along route # Maximum depth: 673.567022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 633.567022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.985363; longitude = -119.129983; captureRadius = 10; duration = 56; initialDepth = 635.467077; finalDepth = 633.567022; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:633.567022 # Seafloor depth:-673.567022 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 675.467077 meters looking forward 0.000000 meters along route # Maximum depth: 675.467077 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.467077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.984822; longitude = -119.129928; captureRadius = 10; duration = 56; initialDepth = 636.294552; finalDepth = 635.467077; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:635.467077 # Seafloor depth:-675.467077 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 676.294552 meters looking forward 0.000000 meters along route # Maximum depth: 676.294552 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 636.294552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.984281; longitude = -119.129874; captureRadius = 10; duration = 56; initialDepth = 638.487615; finalDepth = 636.294552; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:636.294552 # Seafloor depth:-676.294552 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 678.487615 meters looking forward 0.000000 meters along route # Maximum depth: 678.487615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 638.487615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.983740; longitude = -119.129819; captureRadius = 10; duration = 56; initialDepth = 639.558472; finalDepth = 638.487615; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:638.487615 # Seafloor depth:-678.487615 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 679.558472 meters looking forward 0.000000 meters along route # Maximum depth: 679.558472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 639.558472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.983199; longitude = -119.129765; captureRadius = 10; duration = 56; initialDepth = 641.130354; finalDepth = 639.558472; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:639.558472 # Seafloor depth:-679.558472 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 681.130354 meters looking forward 0.000000 meters along route # Maximum depth: 681.130354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.130354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.982658; longitude = -119.129710; captureRadius = 10; duration = 56; initialDepth = 642.910389; finalDepth = 641.130354; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:641.130354 # Seafloor depth:-681.130354 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 682.910389 meters looking forward 0.000000 meters along route # Maximum depth: 682.910389 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.910389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.982117; longitude = -119.129656; captureRadius = 10; duration = 56; initialDepth = 645.018467; finalDepth = 642.910389; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:642.910389 # Seafloor depth:-682.910389 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 685.018467 meters looking forward 0.000000 meters along route # Maximum depth: 685.018467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 645.018467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.981576; longitude = -119.129601; captureRadius = 10; duration = 56; initialDepth = 648.663612; finalDepth = 645.018467; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:645.018467 # Seafloor depth:-685.018467 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 688.663612 meters looking forward 0.000000 meters along route # Maximum depth: 688.663612 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 648.663612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.981035; longitude = -119.129547; captureRadius = 10; duration = 56; initialDepth = 650.487019; finalDepth = 648.663612; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:648.663612 # Seafloor depth:-688.663612 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 690.487019 meters looking forward 0.000000 meters along route # Maximum depth: 690.487019 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 650.487019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.980494; longitude = -119.129492; captureRadius = 10; duration = 56; initialDepth = 652.139723; finalDepth = 650.487019; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:650.487019 # Seafloor depth:-690.487019 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 692.139723 meters looking forward 0.000000 meters along route # Maximum depth: 692.139723 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 652.139723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.979953; longitude = -119.129438; captureRadius = 10; duration = 56; initialDepth = 652.934970; finalDepth = 652.139723; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:652.139723 # Seafloor depth:-692.139723 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 692.934970 meters looking forward 0.000000 meters along route # Maximum depth: 692.934970 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 652.934970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.979412; longitude = -119.129383; captureRadius = 10; duration = 56; initialDepth = 654.125101; finalDepth = 652.934970; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:652.93497 # Seafloor depth:-692.934970 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 694.125101 meters looking forward 0.000000 meters along route # Maximum depth: 694.125101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 654.125101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.978870; longitude = -119.129329; captureRadius = 10; duration = 56; initialDepth = 657.027516; finalDepth = 654.125101; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:654.125101 # Seafloor depth:-694.125101 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 697.027516 meters looking forward 0.000000 meters along route # Maximum depth: 697.027516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 657.027516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.978329; longitude = -119.129274; captureRadius = 10; duration = 56; initialDepth = 658.513363; finalDepth = 657.027516; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:657.027516 # Seafloor depth:-697.027516 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 698.513363 meters looking forward 0.000000 meters along route # Maximum depth: 698.513363 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 658.513363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977788; longitude = -119.129220; captureRadius = 10; duration = 56; initialDepth = 662.032530; finalDepth = 658.513363; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:658.513363 # Seafloor depth:-698.513363 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 702.032530 meters looking forward 0.000000 meters along route # Maximum depth: 702.032530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 662.032530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977247; longitude = -119.129165; captureRadius = 10; duration = 56; initialDepth = 665.222686; finalDepth = 662.032530; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:662.03253 # Seafloor depth:-702.032530 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 705.222686 meters looking forward 0.000000 meters along route # Maximum depth: 705.222686 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.222686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976706; longitude = -119.129111; captureRadius = 10; duration = 56; initialDepth = 667.115634; finalDepth = 665.222686; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:665.222686 # Seafloor depth:-705.222686 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 707.115634 meters looking forward 0.000000 meters along route # Maximum depth: 707.115634 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 667.115634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976165; longitude = -119.129056; captureRadius = 10; duration = 56; initialDepth = 667.616072; finalDepth = 667.115634; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:667.115634 # Seafloor depth:-707.115634 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 707.616072 meters looking forward 0.000000 meters along route # Maximum depth: 707.616072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 667.616072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975624; longitude = -119.129002; captureRadius = 10; duration = 56; initialDepth = 668.383959; finalDepth = 667.616072; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:667.616072 # Seafloor depth:-707.616072 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 708.383959 meters looking forward 0.000000 meters along route # Maximum depth: 708.383959 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 668.383959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975083; longitude = -119.128947; captureRadius = 10; duration = 56; initialDepth = 671.052602; finalDepth = 668.383959; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:668.383959 # Seafloor depth:-708.383959 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 711.052602 meters looking forward 0.000000 meters along route # Maximum depth: 711.052602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.052602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974542; longitude = -119.128893; captureRadius = 10; duration = 56; initialDepth = 673.590969; finalDepth = 671.052602; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:671.052602 # Seafloor depth:-711.052602 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 713.590969 meters looking forward 0.000000 meters along route # Maximum depth: 713.590969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.590969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974001; longitude = -119.128838; captureRadius = 10; duration = 56; initialDepth = 676.297023; finalDepth = 673.590969; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:673.590969 # Seafloor depth:-713.590969 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 716.297023 meters looking forward 0.000000 meters along route # Maximum depth: 716.297023 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.297023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.973460; longitude = -119.128784; captureRadius = 10; duration = 56; initialDepth = 678.035093; finalDepth = 676.297023; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:676.297023 # Seafloor depth:-716.297023 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 718.035093 meters looking forward 0.000000 meters along route # Maximum depth: 718.035093 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.035093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.972919; longitude = -119.128729; captureRadius = 10; duration = 56; initialDepth = 680.252158; finalDepth = 678.035093; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:678.035093 # Seafloor depth:-718.035093 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 56.463859 meters # Minimum depth: 720.252158 meters looking forward 0.000000 meters along route # Maximum depth: 720.252158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.252158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.972378; longitude = -119.128674; captureRadius = 10; duration = 56; initialDepth = 681.649506; finalDepth = 680.252158; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:680.252158 # Seafloor depth:-720.252158 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 110 # Segment length 56.463859 meters # Minimum depth: 721.649506 meters looking forward 0.000000 meters along route # Maximum depth: 721.649506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.649506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.971897; longitude = -119.128626; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 682.701063; finalDepth = 681.649506; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:681.649506 # Seafloor depth:-721.649506 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 56.463859 meters # Minimum depth: 722.701063 meters looking forward 0.000000 meters along route # Maximum depth: 722.701063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.701063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.971837; longitude = -119.129204; captureRadius = 10; duration = 56; initialDepth = 683.678275; finalDepth = 682.701063; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:682.701063 # Seafloor depth:-722.701063 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 56.463859 meters # Minimum depth: 723.678275 meters looking forward 0.000000 meters along route # Maximum depth: 723.678275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.678275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.971777; longitude = -119.129782; captureRadius = 10; duration = 56; initialDepth = 683.426285; finalDepth = 683.678275; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:683.678275 # Seafloor depth:-723.678275 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 109 # Segment length 56.463859 meters # Minimum depth: 723.426285 meters looking forward 0.000000 meters along route # Maximum depth: 723.426285 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.426285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.971717; longitude = -119.130360; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 683.057307; finalDepth = 683.426285; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:683.426285 # Seafloor depth:-723.426285 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 723.057307 meters looking forward 0.000000 meters along route # Maximum depth: 723.057307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.057307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.972017; longitude = -119.130388; captureRadius = 10; duration = 56; initialDepth = 681.280734; finalDepth = 683.057307; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:683.057307 # Seafloor depth:-723.057307 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 721.280734 meters looking forward 0.000000 meters along route # Maximum depth: 721.280734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.280734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.972558; longitude = -119.130439; captureRadius = 10; duration = 56; initialDepth = 679.850657; finalDepth = 681.280734; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:681.280734 # Seafloor depth:-721.280734 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 719.850657 meters looking forward 0.000000 meters along route # Maximum depth: 719.850657 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.850657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.973099; longitude = -119.130490; captureRadius = 10; duration = 56; initialDepth = 678.574667; finalDepth = 679.850657; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:679.850657 # Seafloor depth:-719.850657 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 718.574667 meters looking forward 0.000000 meters along route # Maximum depth: 718.574667 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.574667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.973640; longitude = -119.130541; captureRadius = 10; duration = 56; initialDepth = 677.052956; finalDepth = 678.574667; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:678.574667 # Seafloor depth:-718.574667 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 717.052956 meters looking forward 0.000000 meters along route # Maximum depth: 717.052956 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 677.052956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974182; longitude = -119.130591; captureRadius = 10; duration = 56; initialDepth = 674.121852; finalDepth = 677.052956; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:677.052956 # Seafloor depth:-717.052956 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 714.121852 meters looking forward 0.000000 meters along route # Maximum depth: 714.121852 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.121852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974798; longitude = -119.130649; captureRadius = 10; duration = 56; initialDepth = 672.415766; finalDepth = 674.121852; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:674.121852 # Seafloor depth:-714.121852 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 712.415766 meters looking forward 0.000000 meters along route # Maximum depth: 712.415766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.415766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975264; longitude = -119.130693; captureRadius = 10; duration = 56; initialDepth = 670.665673; finalDepth = 672.415766; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:672.415766 # Seafloor depth:-712.415766 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 710.665673 meters looking forward 0.000000 meters along route # Maximum depth: 710.665673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 670.665673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975805; longitude = -119.130744; captureRadius = 10; duration = 56; initialDepth = 669.568032; finalDepth = 670.665673; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:670.665673 # Seafloor depth:-710.665673 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 709.568032 meters looking forward 0.000000 meters along route # Maximum depth: 709.568032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 669.568032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976346; longitude = -119.130795; captureRadius = 10; duration = 56; initialDepth = 667.778413; finalDepth = 669.568032; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:669.568032 # Seafloor depth:-709.568032 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 707.778413 meters looking forward 0.000000 meters along route # Maximum depth: 707.778413 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 667.778413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976887; longitude = -119.130846; captureRadius = 10; duration = 56; initialDepth = 666.349475; finalDepth = 667.778413; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:667.778413 # Seafloor depth:-707.778413 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 706.349475 meters looking forward 0.000000 meters along route # Maximum depth: 706.349475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 666.349475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977428; longitude = -119.130896; captureRadius = 10; duration = 56; initialDepth = 663.850876; finalDepth = 666.349475; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:666.349475 # Seafloor depth:-706.349475 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 703.850876 meters looking forward 0.000000 meters along route # Maximum depth: 703.850876 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 663.850876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977969; longitude = -119.130947; captureRadius = 10; duration = 56; initialDepth = 662.295123; finalDepth = 663.850876; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:663.850876 # Seafloor depth:-703.850876 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 702.295123 meters looking forward 0.000000 meters along route # Maximum depth: 702.295123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 662.295123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.978510; longitude = -119.130998; captureRadius = 10; duration = 56; initialDepth = 659.846745; finalDepth = 662.295123; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:662.295123 # Seafloor depth:-702.295123 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 699.846745 meters looking forward 0.000000 meters along route # Maximum depth: 699.846745 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 659.846745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.979051; longitude = -119.131049; captureRadius = 10; duration = 56; initialDepth = 659.059762; finalDepth = 659.846745; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:659.846745 # Seafloor depth:-699.846745 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 699.059762 meters looking forward 0.000000 meters along route # Maximum depth: 699.059762 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 659.059762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.979592; longitude = -119.131100; captureRadius = 10; duration = 56; initialDepth = 656.019654; finalDepth = 659.059762; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:659.059762 # Seafloor depth:-699.059762 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 696.019654 meters looking forward 0.000000 meters along route # Maximum depth: 696.019654 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 656.019654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.980133; longitude = -119.131150; captureRadius = 10; duration = 56; initialDepth = 652.414954; finalDepth = 656.019654; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:656.019654 # Seafloor depth:-696.019654 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 692.414954 meters looking forward 0.000000 meters along route # Maximum depth: 692.414954 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 652.414954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.980674; longitude = -119.131201; captureRadius = 10; duration = 56; initialDepth = 649.116694; finalDepth = 652.414954; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:652.414954 # Seafloor depth:-692.414954 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 689.116694 meters looking forward 0.000000 meters along route # Maximum depth: 689.116694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.116694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.981215; longitude = -119.131252; captureRadius = 10; duration = 56; initialDepth = 646.025210; finalDepth = 649.116694; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:649.116694 # Seafloor depth:-689.116694 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 686.025210 meters looking forward 0.000000 meters along route # Maximum depth: 686.025210 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 646.025210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.981756; longitude = -119.131303; captureRadius = 10; duration = 56; initialDepth = 643.907505; finalDepth = 646.025210; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:646.02521 # Seafloor depth:-686.025210 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 683.907505 meters looking forward 0.000000 meters along route # Maximum depth: 683.907505 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 643.907505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.982297; longitude = -119.131354; captureRadius = 10; duration = 56; initialDepth = 643.158806; finalDepth = 643.907505; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:643.907505 # Seafloor depth:-683.907505 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 683.158806 meters looking forward 0.000000 meters along route # Maximum depth: 683.158806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 643.158806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.982838; longitude = -119.131404; captureRadius = 10; duration = 56; initialDepth = 641.398129; finalDepth = 643.158806; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:643.158806 # Seafloor depth:-683.158806 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 681.398129 meters looking forward 0.000000 meters along route # Maximum depth: 681.398129 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.398129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.983379; longitude = -119.131455; captureRadius = 10; duration = 56; initialDepth = 641.852800; finalDepth = 641.398129; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:641.398129 # Seafloor depth:-681.398129 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 681.852800 meters looking forward 0.000000 meters along route # Maximum depth: 681.852800 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.852800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.983920; longitude = -119.131506; captureRadius = 10; duration = 56; initialDepth = 638.619269; finalDepth = 641.852800; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:641.8528 # Seafloor depth:-681.852800 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 678.619269 meters looking forward 0.000000 meters along route # Maximum depth: 678.619269 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 638.619269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.984461; longitude = -119.131557; captureRadius = 10; duration = 56; initialDepth = 636.015957; finalDepth = 638.619269; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:638.619269 # Seafloor depth:-678.619269 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 676.015957 meters looking forward 0.000000 meters along route # Maximum depth: 676.015957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 636.015957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.985002; longitude = -119.131608; captureRadius = 10; duration = 56; initialDepth = 635.067593; finalDepth = 636.015957; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:636.015957 # Seafloor depth:-676.015957 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 675.067593 meters looking forward 0.000000 meters along route # Maximum depth: 675.067593 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.067593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.985543; longitude = -119.131659; captureRadius = 10; duration = 56; initialDepth = 634.420136; finalDepth = 635.067593; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:635.067593 # Seafloor depth:-675.067593 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 674.420136 meters looking forward 0.000000 meters along route # Maximum depth: 674.420136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.420136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.986084; longitude = -119.131709; captureRadius = 10; duration = 56; initialDepth = 634.050353; finalDepth = 634.420136; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:634.420136 # Seafloor depth:-674.420136 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 674.050353 meters looking forward 0.000000 meters along route # Maximum depth: 674.050353 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.050353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.986625; longitude = -119.131760; captureRadius = 10; duration = 56; initialDepth = 632.188402; finalDepth = 634.050353; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:634.050353 # Seafloor depth:-674.050353 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 672.188402 meters looking forward 0.000000 meters along route # Maximum depth: 672.188402 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 632.188402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.987166; longitude = -119.131811; captureRadius = 10; duration = 56; initialDepth = 630.522500; finalDepth = 632.188402; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:632.188402 # Seafloor depth:-672.188402 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 670.522500 meters looking forward 0.000000 meters along route # Maximum depth: 670.522500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.522500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.987707; longitude = -119.131862; captureRadius = 10; duration = 56; initialDepth = 631.001172; finalDepth = 630.522500; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:630.5225 # Seafloor depth:-670.522500 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 671.001172 meters looking forward 0.000000 meters along route # Maximum depth: 671.001172 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 631.001172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.988248; longitude = -119.131913; captureRadius = 10; duration = 56; initialDepth = 629.407054; finalDepth = 631.001172; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:631.001172 # Seafloor depth:-671.001172 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 669.407054 meters looking forward 0.000000 meters along route # Maximum depth: 669.407054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 629.407054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.988789; longitude = -119.131963; captureRadius = 10; duration = 56; initialDepth = 626.558868; finalDepth = 629.407054; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:629.407054 # Seafloor depth:-669.407054 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 666.558868 meters looking forward 0.000000 meters along route # Maximum depth: 666.558868 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 626.558868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.989330; longitude = -119.132014; captureRadius = 10; duration = 56; initialDepth = 623.453061; finalDepth = 626.558868; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:626.558868 # Seafloor depth:-666.558868 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 663.453061 meters looking forward 0.000000 meters along route # Maximum depth: 663.453061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.453061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.989871; longitude = -119.132065; captureRadius = 10; duration = 56; initialDepth = 623.906366; finalDepth = 623.453061; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:623.453061 # Seafloor depth:-663.453061 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 663.906366 meters looking forward 0.000000 meters along route # Maximum depth: 663.906366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.906366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.990413; longitude = -119.132116; captureRadius = 10; duration = 56; initialDepth = 620.322564; finalDepth = 623.906366; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:623.906366 # Seafloor depth:-663.906366 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 660.322564 meters looking forward 0.000000 meters along route # Maximum depth: 660.322564 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.322564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.990957; longitude = -119.132167; captureRadius = 10; duration = 56; initialDepth = 619.307986; finalDepth = 620.322564; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:620.322564 # Seafloor depth:-660.322564 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 659.307986 meters looking forward 0.000000 meters along route # Maximum depth: 659.307986 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.307986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.991495; longitude = -119.132217; captureRadius = 10; duration = 56; initialDepth = 616.736627; finalDepth = 619.307986; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.307986 # Seafloor depth:-659.307986 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 656.736627 meters looking forward 0.000000 meters along route # Maximum depth: 656.736627 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 616.736627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.992036; longitude = -119.132268; captureRadius = 10; duration = 56; initialDepth = 615.922961; finalDepth = 616.736627; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:616.736627 # Seafloor depth:-656.736627 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 655.922961 meters looking forward 0.000000 meters along route # Maximum depth: 655.922961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 615.922961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.992577; longitude = -119.132319; captureRadius = 10; duration = 56; initialDepth = 612.850718; finalDepth = 615.922961; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:615.922961 # Seafloor depth:-655.922961 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 652.850718 meters looking forward 0.000000 meters along route # Maximum depth: 652.850718 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.850718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.993118; longitude = -119.132370; captureRadius = 10; duration = 56; initialDepth = 611.507602; finalDepth = 612.850718; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:612.850718 # Seafloor depth:-652.850718 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 651.507602 meters looking forward 0.000000 meters along route # Maximum depth: 651.507602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 611.507602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.993659; longitude = -119.132421; captureRadius = 10; duration = 56; initialDepth = 610.263815; finalDepth = 611.507602; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:611.507602 # Seafloor depth:-651.507602 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 56.463859 meters # Minimum depth: 650.263815 meters looking forward 0.000000 meters along route # Maximum depth: 650.263815 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.263815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994200; longitude = -119.132472; captureRadius = 10; duration = 56; initialDepth = 608.260468; finalDepth = 610.263815; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:610.263815 # Seafloor depth:-650.263815 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 108 # Segment length 56.463859 meters # Minimum depth: 648.260468 meters looking forward 0.000000 meters along route # Maximum depth: 648.260468 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.260468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994801; longitude = -119.132528; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 607.651332; finalDepth = 608.260468; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.260468 # Seafloor depth:-648.260468 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 56.463859 meters # Minimum depth: 647.651332 meters looking forward 0.000000 meters along route # Maximum depth: 647.651332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.651332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995282; longitude = -119.132504; captureRadius = 10; duration = 56; initialDepth = 605.989690; finalDepth = 607.651332; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:607.651332 # Seafloor depth:-647.651332 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 56.463859 meters # Minimum depth: 645.989690 meters looking forward 0.000000 meters along route # Maximum depth: 645.989690 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.989690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995823; longitude = -119.132477; captureRadius = 10; duration = 56; initialDepth = 605.237836; finalDepth = 605.989690; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:605.98969 # Seafloor depth:-645.989690 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 56.463859 meters # Minimum depth: 645.237836 meters looking forward 0.000000 meters along route # Maximum depth: 645.237836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.237836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996364; longitude = -119.132451; captureRadius = 10; duration = 56; initialDepth = 604.148110; finalDepth = 605.237836; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:605.237836 # Seafloor depth:-645.237836 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 56.463859 meters # Minimum depth: 644.148110 meters looking forward 0.000000 meters along route # Maximum depth: 644.148110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 604.148110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996905; longitude = -119.132424; captureRadius = 10; duration = 56; initialDepth = 602.961363; finalDepth = 604.148110; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:604.14811 # Seafloor depth:-644.148110 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 56.463859 meters # Minimum depth: 642.961363 meters looking forward 0.000000 meters along route # Maximum depth: 642.961363 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 602.961363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997446; longitude = -119.132397; captureRadius = 10; duration = 56; initialDepth = 601.776015; finalDepth = 602.961363; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:602.961363 # Seafloor depth:-642.961363 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 56.463859 meters # Minimum depth: 641.776015 meters looking forward 0.000000 meters along route # Maximum depth: 641.776015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 601.776015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997987; longitude = -119.132370; captureRadius = 10; duration = 56; initialDepth = 600.748057; finalDepth = 601.776015; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:601.776015 # Seafloor depth:-641.776015 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 56.463859 meters # Minimum depth: 640.748057 meters looking forward 0.000000 meters along route # Maximum depth: 640.748057 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.748057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998528; longitude = -119.132343; captureRadius = 10; duration = 56; initialDepth = 598.762948; finalDepth = 600.748057; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:600.748057 # Seafloor depth:-640.748057 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 56.463859 meters # Minimum depth: 638.762948 meters looking forward 0.000000 meters along route # Maximum depth: 638.762948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 598.762948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999069; longitude = -119.132316; captureRadius = 10; duration = 56; initialDepth = 598.462466; finalDepth = 598.762948; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:598.762948 # Seafloor depth:-638.762948 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 56.463859 meters # Minimum depth: 638.462466 meters looking forward 0.000000 meters along route # Maximum depth: 638.462466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 598.462466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999610; longitude = -119.132290; captureRadius = 10; duration = 56; initialDepth = 597.957930; finalDepth = 598.462466; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:598.462466 # Seafloor depth:-638.462466 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 56.463859 meters # Minimum depth: 637.957930 meters looking forward 0.000000 meters along route # Maximum depth: 637.957930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 597.957930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000151; longitude = -119.132263; captureRadius = 10; duration = 56; initialDepth = 596.810379; finalDepth = 597.957930; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:597.95793 # Seafloor depth:-637.957930 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 107 # Segment length 56.463859 meters # Minimum depth: 636.810379 meters looking forward 0.000000 meters along route # Maximum depth: 636.810379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.810379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000632; longitude = -119.132239; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 597.996933; finalDepth = 596.810379; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.810379 # Seafloor depth:-636.810379 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 56.463859 meters # Minimum depth: 637.996933 meters looking forward 0.000000 meters along route # Maximum depth: 637.996933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 597.996933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000247; longitude = -119.132384; captureRadius = 10; duration = 56; initialDepth = 598.115372; finalDepth = 597.996933; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:597.996933 # Seafloor depth:-637.996933 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 56.463859 meters # Minimum depth: 638.115372 meters looking forward 0.000000 meters along route # Maximum depth: 638.115372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 598.115372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999790; longitude = -119.132555; captureRadius = 10; duration = 56; initialDepth = 598.001722; finalDepth = 598.115372; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:598.115372 # Seafloor depth:-638.115372 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 56.463859 meters # Minimum depth: 638.001722 meters looking forward 0.000000 meters along route # Maximum depth: 638.001722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 598.001722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999249; longitude = -119.132758; captureRadius = 10; duration = 56; initialDepth = 600.270618; finalDepth = 598.001722; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:598.001722 # Seafloor depth:-638.001722 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 56.463859 meters # Minimum depth: 640.270618 meters looking forward 0.000000 meters along route # Maximum depth: 640.270618 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.270618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998708; longitude = -119.132962; captureRadius = 10; duration = 56; initialDepth = 601.719658; finalDepth = 600.270618; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:600.270618 # Seafloor depth:-640.270618 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 56.463859 meters # Minimum depth: 641.719658 meters looking forward 0.000000 meters along route # Maximum depth: 641.719658 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 601.719658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998167; longitude = -119.133165; captureRadius = 10; duration = 56; initialDepth = 603.064076; finalDepth = 601.719658; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:601.719658 # Seafloor depth:-641.719658 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 56.463859 meters # Minimum depth: 643.064076 meters looking forward 0.000000 meters along route # Maximum depth: 643.064076 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.064076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997626; longitude = -119.133368; captureRadius = 10; duration = 56; initialDepth = 604.732821; finalDepth = 603.064076; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:603.064076 # Seafloor depth:-643.064076 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 56.463859 meters # Minimum depth: 644.732821 meters looking forward 0.000000 meters along route # Maximum depth: 644.732821 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 604.732821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997085; longitude = -119.133571; captureRadius = 10; duration = 56; initialDepth = 605.712133; finalDepth = 604.732821; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:604.732821 # Seafloor depth:-644.732821 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 56.463859 meters # Minimum depth: 645.712133 meters looking forward 0.000000 meters along route # Maximum depth: 645.712133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.712133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996544; longitude = -119.133775; captureRadius = 10; duration = 56; initialDepth = 606.505353; finalDepth = 605.712133; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:605.712133 # Seafloor depth:-645.712133 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 56.463859 meters # Minimum depth: 646.505353 meters looking forward 0.000000 meters along route # Maximum depth: 646.505353 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 606.505353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996003; longitude = -119.133978; captureRadius = 10; duration = 56; initialDepth = 607.503945; finalDepth = 606.505353; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:606.505353 # Seafloor depth:-646.505353 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 56.463859 meters # Minimum depth: 647.503945 meters looking forward 0.000000 meters along route # Maximum depth: 647.503945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.503945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995462; longitude = -119.134181; captureRadius = 10; duration = 56; initialDepth = 608.815231; finalDepth = 607.503945; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:607.503945 # Seafloor depth:-647.503945 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 106 # Segment length 56.463859 meters # Minimum depth: 648.815231 meters looking forward 0.000000 meters along route # Maximum depth: 648.815231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.815231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994861; longitude = -119.134407; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 610.177660; finalDepth = 608.815231; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.815231 # Seafloor depth:-648.815231 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 650.177660 meters looking forward 0.000000 meters along route # Maximum depth: 650.177660 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.177660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994560; longitude = -119.134377; captureRadius = 10; duration = 56; initialDepth = 610.275815; finalDepth = 610.177660; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:610.17766 # Seafloor depth:-650.177660 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 650.275815 meters looking forward 0.000000 meters along route # Maximum depth: 650.275815 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.275815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994019; longitude = -119.134322; captureRadius = 10; duration = 56; initialDepth = 616.267220; finalDepth = 610.275815; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:610.275815 # Seafloor depth:-650.275815 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 656.267220 meters looking forward 0.000000 meters along route # Maximum depth: 656.267220 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 616.267220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.993478; longitude = -119.134268; captureRadius = 10; duration = 56; initialDepth = 617.833954; finalDepth = 616.267220; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:616.26722 # Seafloor depth:-656.267220 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 657.833954 meters looking forward 0.000000 meters along route # Maximum depth: 657.833954 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 617.833954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.992937; longitude = -119.134213; captureRadius = 10; duration = 56; initialDepth = 620.272757; finalDepth = 617.833954; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:617.833954 # Seafloor depth:-657.833954 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 660.272757 meters looking forward 0.000000 meters along route # Maximum depth: 660.272757 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.272757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.992396; longitude = -119.134159; captureRadius = 10; duration = 56; initialDepth = 623.359451; finalDepth = 620.272757; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:620.272757 # Seafloor depth:-660.272757 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 663.359451 meters looking forward 0.000000 meters along route # Maximum depth: 663.359451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.359451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.991855; longitude = -119.134104; captureRadius = 10; duration = 56; initialDepth = 625.666403; finalDepth = 623.359451; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:623.359451 # Seafloor depth:-663.359451 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 665.666403 meters looking forward 0.000000 meters along route # Maximum depth: 665.666403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 625.666403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.991314; longitude = -119.134050; captureRadius = 10; duration = 56; initialDepth = 627.911576; finalDepth = 625.666403; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:625.666403 # Seafloor depth:-665.666403 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 667.911576 meters looking forward 0.000000 meters along route # Maximum depth: 667.911576 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 627.911576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.990773; longitude = -119.133995; captureRadius = 10; duration = 56; initialDepth = 630.156663; finalDepth = 627.911576; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:627.911576 # Seafloor depth:-667.911576 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 670.156663 meters looking forward 0.000000 meters along route # Maximum depth: 670.156663 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.156663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.990232; longitude = -119.133941; captureRadius = 10; duration = 56; initialDepth = 632.352142; finalDepth = 630.156663; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:630.156663 # Seafloor depth:-670.156663 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 672.352142 meters looking forward 0.000000 meters along route # Maximum depth: 672.352142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 632.352142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.989691; longitude = -119.133887; captureRadius = 10; duration = 56; initialDepth = 633.835824; finalDepth = 632.352142; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:632.352142 # Seafloor depth:-672.352142 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 673.835824 meters looking forward 0.000000 meters along route # Maximum depth: 673.835824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 633.835824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.989150; longitude = -119.133832; captureRadius = 10; duration = 56; initialDepth = 634.672190; finalDepth = 633.835824; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:633.835824 # Seafloor depth:-673.835824 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 674.672190 meters looking forward 0.000000 meters along route # Maximum depth: 674.672190 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.672190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.988609; longitude = -119.133778; captureRadius = 10; duration = 56; initialDepth = 635.845916; finalDepth = 634.672190; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:634.67219 # Seafloor depth:-674.672190 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 675.845916 meters looking forward 0.000000 meters along route # Maximum depth: 675.845916 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.845916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.988068; longitude = -119.133723; captureRadius = 10; duration = 56; initialDepth = 636.604164; finalDepth = 635.845916; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:635.845916 # Seafloor depth:-675.845916 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 676.604164 meters looking forward 0.000000 meters along route # Maximum depth: 676.604164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 636.604164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.987527; longitude = -119.133669; captureRadius = 10; duration = 56; initialDepth = 637.609474; finalDepth = 636.604164; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:636.604164 # Seafloor depth:-676.604164 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 677.609474 meters looking forward 0.000000 meters along route # Maximum depth: 677.609474 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 637.609474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.986986; longitude = -119.133614; captureRadius = 10; duration = 56; initialDepth = 637.437912; finalDepth = 637.609474; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:637.609474 # Seafloor depth:-677.609474 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 677.437912 meters looking forward 0.000000 meters along route # Maximum depth: 677.437912 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 637.437912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.986445; longitude = -119.133560; captureRadius = 10; duration = 56; initialDepth = 640.467875; finalDepth = 637.437912; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:637.437912 # Seafloor depth:-677.437912 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 680.467875 meters looking forward 0.000000 meters along route # Maximum depth: 680.467875 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 640.467875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.985904; longitude = -119.133505; captureRadius = 10; duration = 56; initialDepth = 641.665781; finalDepth = 640.467875; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:640.467875 # Seafloor depth:-680.467875 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 681.665781 meters looking forward 0.000000 meters along route # Maximum depth: 681.665781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.665781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.985363; longitude = -119.133451; captureRadius = 10; duration = 56; initialDepth = 643.120167; finalDepth = 641.665781; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:641.665781 # Seafloor depth:-681.665781 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 683.120167 meters looking forward 0.000000 meters along route # Maximum depth: 683.120167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 643.120167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.984822; longitude = -119.133396; captureRadius = 10; duration = 56; initialDepth = 644.486130; finalDepth = 643.120167; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:643.120167 # Seafloor depth:-683.120167 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 684.486130 meters looking forward 0.000000 meters along route # Maximum depth: 684.486130 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.486130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.984281; longitude = -119.133342; captureRadius = 10; duration = 56; initialDepth = 647.360411; finalDepth = 644.486130; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:644.48613 # Seafloor depth:-684.486130 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 687.360411 meters looking forward 0.000000 meters along route # Maximum depth: 687.360411 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 647.360411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.983740; longitude = -119.133287; captureRadius = 10; duration = 56; initialDepth = 648.784095; finalDepth = 647.360411; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:647.360411 # Seafloor depth:-687.360411 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 688.784095 meters looking forward 0.000000 meters along route # Maximum depth: 688.784095 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 648.784095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.983199; longitude = -119.133233; captureRadius = 10; duration = 56; initialDepth = 649.153897; finalDepth = 648.784095; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:648.784095 # Seafloor depth:-688.784095 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 689.153897 meters looking forward 0.000000 meters along route # Maximum depth: 689.153897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.153897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.982658; longitude = -119.133178; captureRadius = 10; duration = 56; initialDepth = 650.868322; finalDepth = 649.153897; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:649.153897 # Seafloor depth:-689.153897 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 690.868322 meters looking forward 0.000000 meters along route # Maximum depth: 690.868322 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 650.868322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.982117; longitude = -119.133124; captureRadius = 10; duration = 56; initialDepth = 653.383225; finalDepth = 650.868322; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:650.868322 # Seafloor depth:-690.868322 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 693.383225 meters looking forward 0.000000 meters along route # Maximum depth: 693.383225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.383225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.981576; longitude = -119.133069; captureRadius = 10; duration = 56; initialDepth = 658.645221; finalDepth = 653.383225; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:653.383225 # Seafloor depth:-693.383225 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 698.645221 meters looking forward 0.000000 meters along route # Maximum depth: 698.645221 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 658.645221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.981035; longitude = -119.133015; captureRadius = 10; duration = 56; initialDepth = 660.999216; finalDepth = 658.645221; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:658.645221 # Seafloor depth:-698.645221 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 700.999216 meters looking forward 0.000000 meters along route # Maximum depth: 700.999216 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 660.999216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.980494; longitude = -119.132960; captureRadius = 10; duration = 56; initialDepth = 662.167217; finalDepth = 660.999216; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:660.999216 # Seafloor depth:-700.999216 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 702.167217 meters looking forward 0.000000 meters along route # Maximum depth: 702.167217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 662.167217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.979953; longitude = -119.132906; captureRadius = 10; duration = 56; initialDepth = 662.882163; finalDepth = 662.167217; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:662.167217 # Seafloor depth:-702.167217 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 702.882163 meters looking forward 0.000000 meters along route # Maximum depth: 702.882163 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 662.882163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.979412; longitude = -119.132852; captureRadius = 10; duration = 56; initialDepth = 665.301233; finalDepth = 662.882163; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:662.882163 # Seafloor depth:-702.882163 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 705.301233 meters looking forward 0.000000 meters along route # Maximum depth: 705.301233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.301233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.978870; longitude = -119.132797; captureRadius = 10; duration = 56; initialDepth = 665.738242; finalDepth = 665.301233; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:665.301233 # Seafloor depth:-705.301233 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 705.738242 meters looking forward 0.000000 meters along route # Maximum depth: 705.738242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.738242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.978329; longitude = -119.132743; captureRadius = 10; duration = 56; initialDepth = 667.761155; finalDepth = 665.738242; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:665.738242 # Seafloor depth:-705.738242 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 707.761155 meters looking forward 0.000000 meters along route # Maximum depth: 707.761155 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 667.761155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977788; longitude = -119.132688; captureRadius = 10; duration = 56; initialDepth = 668.733021; finalDepth = 667.761155; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:667.761155 # Seafloor depth:-707.761155 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 708.733021 meters looking forward 0.000000 meters along route # Maximum depth: 708.733021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 668.733021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977247; longitude = -119.132634; captureRadius = 10; duration = 56; initialDepth = 670.267276; finalDepth = 668.733021; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:668.733021 # Seafloor depth:-708.733021 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 710.267276 meters looking forward 0.000000 meters along route # Maximum depth: 710.267276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 670.267276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976706; longitude = -119.132579; captureRadius = 10; duration = 56; initialDepth = 672.450374; finalDepth = 670.267276; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:670.267276 # Seafloor depth:-710.267276 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 712.450374 meters looking forward 0.000000 meters along route # Maximum depth: 712.450374 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.450374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976165; longitude = -119.132525; captureRadius = 10; duration = 56; initialDepth = 673.333738; finalDepth = 672.450374; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:672.450374 # Seafloor depth:-712.450374 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 713.333738 meters looking forward 0.000000 meters along route # Maximum depth: 713.333738 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.333738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975624; longitude = -119.132470; captureRadius = 10; duration = 56; initialDepth = 674.781644; finalDepth = 673.333738; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:673.333738 # Seafloor depth:-713.333738 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 714.781644 meters looking forward 0.000000 meters along route # Maximum depth: 714.781644 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.781644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975083; longitude = -119.132416; captureRadius = 10; duration = 56; initialDepth = 675.696891; finalDepth = 674.781644; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:674.781644 # Seafloor depth:-714.781644 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 715.696891 meters looking forward 0.000000 meters along route # Maximum depth: 715.696891 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.696891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974542; longitude = -119.132361; captureRadius = 10; duration = 56; initialDepth = 676.855890; finalDepth = 675.696891; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:675.696891 # Seafloor depth:-715.696891 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 716.855890 meters looking forward 0.000000 meters along route # Maximum depth: 716.855890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.855890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974001; longitude = -119.132307; captureRadius = 10; duration = 56; initialDepth = 679.332779; finalDepth = 676.855890; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:676.85589 # Seafloor depth:-716.855890 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 719.332779 meters looking forward 0.000000 meters along route # Maximum depth: 719.332779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.332779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.973460; longitude = -119.132252; captureRadius = 10; duration = 56; initialDepth = 680.984706; finalDepth = 679.332779; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:679.332779 # Seafloor depth:-719.332779 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 720.984706 meters looking forward 0.000000 meters along route # Maximum depth: 720.984706 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.984706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.972919; longitude = -119.132198; captureRadius = 10; duration = 56; initialDepth = 681.037523; finalDepth = 680.984706; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:680.984706 # Seafloor depth:-720.984706 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 56.463859 meters # Minimum depth: 721.037523 meters looking forward 0.000000 meters along route # Maximum depth: 721.037523 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.037523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.972378; longitude = -119.132143; captureRadius = 10; duration = 56; initialDepth = 682.024796; finalDepth = 681.037523; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:681.037523 # Seafloor depth:-721.037523 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 105 # Segment length 56.463859 meters # Minimum depth: 722.024796 meters looking forward 0.000000 meters along route # Maximum depth: 722.024796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.024796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.971897; longitude = -119.132095; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 681.313269; finalDepth = 682.024796; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:682.024796 # Seafloor depth:-722.024796 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 56.463859 meters # Minimum depth: 721.313269 meters looking forward 0.000000 meters along route # Maximum depth: 721.313269 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.313269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.971837; longitude = -119.132673; captureRadius = 10; duration = 56; initialDepth = 680.950015; finalDepth = 681.313269; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:681.313269 # Seafloor depth:-721.313269 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 56.463859 meters # Minimum depth: 720.950015 meters looking forward 0.000000 meters along route # Maximum depth: 720.950015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.950015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.971777; longitude = -119.133251; captureRadius = 10; duration = 56; initialDepth = 680.119141; finalDepth = 680.950015; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:680.950015 # Seafloor depth:-720.950015 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 104 # Segment length 56.463859 meters # Minimum depth: 720.119141 meters looking forward 0.000000 meters along route # Maximum depth: 720.119141 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.119141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.971717; longitude = -119.133829; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 680.460367; finalDepth = 680.119141; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:680.119141 # Seafloor depth:-720.119141 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 720.460367 meters looking forward 0.000000 meters along route # Maximum depth: 720.460367 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.460367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.972017; longitude = -119.133859; captureRadius = 10; duration = 56; initialDepth = 678.809896; finalDepth = 680.460367; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:680.460367 # Seafloor depth:-720.460367 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 718.809896 meters looking forward 0.000000 meters along route # Maximum depth: 718.809896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.809896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.972558; longitude = -119.133912; captureRadius = 10; duration = 56; initialDepth = 678.083917; finalDepth = 678.809896; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:678.809896 # Seafloor depth:-718.809896 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 718.083917 meters looking forward 0.000000 meters along route # Maximum depth: 718.083917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.083917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.973099; longitude = -119.133966; captureRadius = 10; duration = 56; initialDepth = 676.273984; finalDepth = 678.083917; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:678.083917 # Seafloor depth:-718.083917 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 716.273984 meters looking forward 0.000000 meters along route # Maximum depth: 716.273984 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.273984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.973640; longitude = -119.134020; captureRadius = 10; duration = 56; initialDepth = 675.157276; finalDepth = 676.273984; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:676.273984 # Seafloor depth:-716.273984 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 715.157276 meters looking forward 0.000000 meters along route # Maximum depth: 715.157276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.157276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974182; longitude = -119.134073; captureRadius = 10; duration = 56; initialDepth = 674.426465; finalDepth = 675.157276; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:675.157276 # Seafloor depth:-715.157276 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 714.426465 meters looking forward 0.000000 meters along route # Maximum depth: 714.426465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.426465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974633; longitude = -119.134118; captureRadius = 10; duration = 56; initialDepth = 673.700604; finalDepth = 674.426465; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:674.426465 # Seafloor depth:-714.426465 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 713.700604 meters looking forward 0.000000 meters along route # Maximum depth: 713.700604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.700604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975083; longitude = -119.134163; captureRadius = 10; duration = 56; initialDepth = 672.320140; finalDepth = 673.700604; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:673.700604 # Seafloor depth:-713.700604 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 712.320140 meters looking forward 0.000000 meters along route # Maximum depth: 712.320140 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.320140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975624; longitude = -119.134216; captureRadius = 10; duration = 56; initialDepth = 671.656647; finalDepth = 672.320140; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:672.32014 # Seafloor depth:-712.320140 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 711.656647 meters looking forward 0.000000 meters along route # Maximum depth: 711.656647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.656647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976165; longitude = -119.134270; captureRadius = 10; duration = 56; initialDepth = 669.889619; finalDepth = 671.656647; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:671.656647 # Seafloor depth:-711.656647 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 709.889619 meters looking forward 0.000000 meters along route # Maximum depth: 709.889619 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 669.889619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976706; longitude = -119.134324; captureRadius = 10; duration = 56; initialDepth = 669.270929; finalDepth = 669.889619; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:669.889619 # Seafloor depth:-709.889619 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 709.270929 meters looking forward 0.000000 meters along route # Maximum depth: 709.270929 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 669.270929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977247; longitude = -119.134377; captureRadius = 10; duration = 56; initialDepth = 667.245480; finalDepth = 669.270929; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:669.270929 # Seafloor depth:-709.270929 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 707.245480 meters looking forward 0.000000 meters along route # Maximum depth: 707.245480 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 667.245480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977788; longitude = -119.134431; captureRadius = 10; duration = 56; initialDepth = 667.380638; finalDepth = 667.245480; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:667.24548 # Seafloor depth:-707.245480 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 707.380638 meters looking forward 0.000000 meters along route # Maximum depth: 707.380638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 667.380638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.978329; longitude = -119.134485; captureRadius = 10; duration = 56; initialDepth = 666.376061; finalDepth = 667.380638; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:667.380638 # Seafloor depth:-707.380638 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 706.376061 meters looking forward 0.000000 meters along route # Maximum depth: 706.376061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 666.376061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.978870; longitude = -119.134538; captureRadius = 10; duration = 56; initialDepth = 665.002970; finalDepth = 666.376061; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:666.376061 # Seafloor depth:-706.376061 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 705.002970 meters looking forward 0.000000 meters along route # Maximum depth: 705.002970 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.002970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.979412; longitude = -119.134592; captureRadius = 10; duration = 56; initialDepth = 663.460563; finalDepth = 665.002970; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:665.00297 # Seafloor depth:-705.002970 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 703.460563 meters looking forward 0.000000 meters along route # Maximum depth: 703.460563 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 663.460563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.979953; longitude = -119.134646; captureRadius = 10; duration = 56; initialDepth = 662.461952; finalDepth = 663.460563; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:663.460563 # Seafloor depth:-703.460563 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 702.461952 meters looking forward 0.000000 meters along route # Maximum depth: 702.461952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 662.461952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.980494; longitude = -119.134699; captureRadius = 10; duration = 56; initialDepth = 661.899668; finalDepth = 662.461952; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:662.461952 # Seafloor depth:-702.461952 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 701.899668 meters looking forward 0.000000 meters along route # Maximum depth: 701.899668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 661.899668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.981035; longitude = -119.134753; captureRadius = 10; duration = 56; initialDepth = 660.406579; finalDepth = 661.899668; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:661.899668 # Seafloor depth:-701.899668 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 700.406579 meters looking forward 0.000000 meters along route # Maximum depth: 700.406579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 660.406579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.981576; longitude = -119.134807; captureRadius = 10; duration = 56; initialDepth = 659.096388; finalDepth = 660.406579; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:660.406579 # Seafloor depth:-700.406579 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 699.096388 meters looking forward 0.000000 meters along route # Maximum depth: 699.096388 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 659.096388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.982117; longitude = -119.134860; captureRadius = 10; duration = 56; initialDepth = 656.946364; finalDepth = 659.096388; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:659.096388 # Seafloor depth:-699.096388 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 696.946364 meters looking forward 0.000000 meters along route # Maximum depth: 696.946364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 656.946364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.982658; longitude = -119.134914; captureRadius = 10; duration = 56; initialDepth = 655.498224; finalDepth = 656.946364; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:656.946364 # Seafloor depth:-696.946364 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 695.498224 meters looking forward 0.000000 meters along route # Maximum depth: 695.498224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 655.498224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.983199; longitude = -119.134968; captureRadius = 10; duration = 56; initialDepth = 653.523254; finalDepth = 655.498224; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:655.498224 # Seafloor depth:-695.498224 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 693.523254 meters looking forward 0.000000 meters along route # Maximum depth: 693.523254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.523254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.983740; longitude = -119.135021; captureRadius = 10; duration = 56; initialDepth = 651.816055; finalDepth = 653.523254; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:653.523254 # Seafloor depth:-693.523254 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 691.816055 meters looking forward 0.000000 meters along route # Maximum depth: 691.816055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 651.816055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.984281; longitude = -119.135075; captureRadius = 10; duration = 56; initialDepth = 650.729767; finalDepth = 651.816055; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:651.816055 # Seafloor depth:-691.816055 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 690.729767 meters looking forward 0.000000 meters along route # Maximum depth: 690.729767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 650.729767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.984822; longitude = -119.135129; captureRadius = 10; duration = 56; initialDepth = 649.160423; finalDepth = 650.729767; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:650.729767 # Seafloor depth:-690.729767 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 689.160423 meters looking forward 0.000000 meters along route # Maximum depth: 689.160423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.160423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.985363; longitude = -119.135182; captureRadius = 10; duration = 56; initialDepth = 647.301714; finalDepth = 649.160423; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:649.160423 # Seafloor depth:-689.160423 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 687.301714 meters looking forward 0.000000 meters along route # Maximum depth: 687.301714 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 647.301714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.985904; longitude = -119.135236; captureRadius = 10; duration = 56; initialDepth = 645.498971; finalDepth = 647.301714; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:647.301714 # Seafloor depth:-687.301714 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 685.498971 meters looking forward 0.000000 meters along route # Maximum depth: 685.498971 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 645.498971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.986445; longitude = -119.135290; captureRadius = 10; duration = 56; initialDepth = 642.708119; finalDepth = 645.498971; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:645.498971 # Seafloor depth:-685.498971 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 682.708119 meters looking forward 0.000000 meters along route # Maximum depth: 682.708119 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.708119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.986986; longitude = -119.135343; captureRadius = 10; duration = 56; initialDepth = 641.117554; finalDepth = 642.708119; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:642.708119 # Seafloor depth:-682.708119 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 681.117554 meters looking forward 0.000000 meters along route # Maximum depth: 681.117554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.117554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.987527; longitude = -119.135397; captureRadius = 10; duration = 56; initialDepth = 639.059808; finalDepth = 641.117554; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:641.117554 # Seafloor depth:-681.117554 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 679.059808 meters looking forward 0.000000 meters along route # Maximum depth: 679.059808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 639.059808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.988068; longitude = -119.135451; captureRadius = 10; duration = 56; initialDepth = 637.330142; finalDepth = 639.059808; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:639.059808 # Seafloor depth:-679.059808 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 677.330142 meters looking forward 0.000000 meters along route # Maximum depth: 677.330142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 637.330142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.988609; longitude = -119.135504; captureRadius = 10; duration = 56; initialDepth = 635.468415; finalDepth = 637.330142; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:637.330142 # Seafloor depth:-677.330142 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 675.468415 meters looking forward 0.000000 meters along route # Maximum depth: 675.468415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.468415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.989150; longitude = -119.135558; captureRadius = 10; duration = 56; initialDepth = 633.875698; finalDepth = 635.468415; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:635.468415 # Seafloor depth:-675.468415 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 673.875698 meters looking forward 0.000000 meters along route # Maximum depth: 673.875698 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 633.875698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.989691; longitude = -119.135611; captureRadius = 10; duration = 56; initialDepth = 632.111764; finalDepth = 633.875698; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:633.875698 # Seafloor depth:-673.875698 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 672.111764 meters looking forward 0.000000 meters along route # Maximum depth: 672.111764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 632.111764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.990232; longitude = -119.135665; captureRadius = 10; duration = 56; initialDepth = 630.079697; finalDepth = 632.111764; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:632.111764 # Seafloor depth:-672.111764 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 670.079697 meters looking forward 0.000000 meters along route # Maximum depth: 670.079697 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.079697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.990773; longitude = -119.135719; captureRadius = 10; duration = 56; initialDepth = 628.662485; finalDepth = 630.079697; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:630.079697 # Seafloor depth:-670.079697 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 668.662485 meters looking forward 0.000000 meters along route # Maximum depth: 668.662485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.662485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.991314; longitude = -119.135772; captureRadius = 10; duration = 56; initialDepth = 626.716708; finalDepth = 628.662485; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:628.662485 # Seafloor depth:-668.662485 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 666.716708 meters looking forward 0.000000 meters along route # Maximum depth: 666.716708 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 626.716708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.991855; longitude = -119.135826; captureRadius = 10; duration = 56; initialDepth = 623.764222; finalDepth = 626.716708; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:626.716708 # Seafloor depth:-666.716708 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 663.764222 meters looking forward 0.000000 meters along route # Maximum depth: 663.764222 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.764222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.992396; longitude = -119.135880; captureRadius = 10; duration = 56; initialDepth = 620.815765; finalDepth = 623.764222; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:623.764222 # Seafloor depth:-663.764222 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 660.815765 meters looking forward 0.000000 meters along route # Maximum depth: 660.815765 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.815765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.992937; longitude = -119.135933; captureRadius = 10; duration = 56; initialDepth = 619.099964; finalDepth = 620.815765; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:620.815765 # Seafloor depth:-660.815765 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 659.099964 meters looking forward 0.000000 meters along route # Maximum depth: 659.099964 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.099964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.993478; longitude = -119.135987; captureRadius = 10; duration = 56; initialDepth = 617.050875; finalDepth = 619.099964; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.099964 # Seafloor depth:-659.099964 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 657.050875 meters looking forward 0.000000 meters along route # Maximum depth: 657.050875 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 617.050875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994019; longitude = -119.136041; captureRadius = 10; duration = 56; initialDepth = 614.309860; finalDepth = 617.050875; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:617.050875 # Seafloor depth:-657.050875 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 56.463859 meters # Minimum depth: 654.309860 meters looking forward 0.000000 meters along route # Maximum depth: 654.309860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 614.309860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994560; longitude = -119.136094; captureRadius = 10; duration = 56; initialDepth = 611.297043; finalDepth = 614.309860; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:614.30986 # Seafloor depth:-654.309860 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 103 # Segment length 56.463859 meters # Minimum depth: 651.297043 meters looking forward 0.000000 meters along route # Maximum depth: 651.297043 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 611.297043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995041; longitude = -119.136142; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 610.385681; finalDepth = 611.297043; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:611.297043 # Seafloor depth:-651.297043 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 56.463859 meters # Minimum depth: 650.385681 meters looking forward 0.000000 meters along route # Maximum depth: 650.385681 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.385681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995203; longitude = -119.136069; captureRadius = 10; duration = 56; initialDepth = 608.240252; finalDepth = 610.385681; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:610.385681 # Seafloor depth:-650.385681 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 56.463859 meters # Minimum depth: 648.240252 meters looking forward 0.000000 meters along route # Maximum depth: 648.240252 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.240252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995687; longitude = -119.135853; captureRadius = 10; duration = 56; initialDepth = 604.740399; finalDepth = 608.240252; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.240252 # Seafloor depth:-648.240252 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 56.463859 meters # Minimum depth: 644.740399 meters looking forward 0.000000 meters along route # Maximum depth: 644.740399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 604.740399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996184; longitude = -119.135630; captureRadius = 10; duration = 56; initialDepth = 605.483404; finalDepth = 604.740399; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:604.740399 # Seafloor depth:-644.740399 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 56.463859 meters # Minimum depth: 645.483404 meters looking forward 0.000000 meters along route # Maximum depth: 645.483404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.483404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996655; longitude = -119.135419; captureRadius = 10; duration = 56; initialDepth = 604.922498; finalDepth = 605.483404; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:605.483404 # Seafloor depth:-645.483404 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 56.463859 meters # Minimum depth: 644.922498 meters looking forward 0.000000 meters along route # Maximum depth: 644.922498 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 604.922498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997139; longitude = -119.135202; captureRadius = 10; duration = 56; initialDepth = 603.865799; finalDepth = 604.922498; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:604.922498 # Seafloor depth:-644.922498 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 56.463859 meters # Minimum depth: 643.865799 meters looking forward 0.000000 meters along route # Maximum depth: 643.865799 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.865799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997626; longitude = -119.134984; captureRadius = 10; duration = 56; initialDepth = 602.328638; finalDepth = 603.865799; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:603.865799 # Seafloor depth:-643.865799 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 56.463859 meters # Minimum depth: 642.328638 meters looking forward 0.000000 meters along route # Maximum depth: 642.328638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 602.328638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998167; longitude = -119.134742; captureRadius = 10; duration = 56; initialDepth = 601.688822; finalDepth = 602.328638; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:602.328638 # Seafloor depth:-642.328638 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 56.463859 meters # Minimum depth: 641.688822 meters looking forward 0.000000 meters along route # Maximum depth: 641.688822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 601.688822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998591; longitude = -119.134552; captureRadius = 10; duration = 56; initialDepth = 599.527502; finalDepth = 601.688822; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:601.688822 # Seafloor depth:-641.688822 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 56.463859 meters # Minimum depth: 639.527502 meters looking forward 0.000000 meters along route # Maximum depth: 639.527502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 599.527502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999075; longitude = -119.134335; captureRadius = 10; duration = 56; initialDepth = 597.833402; finalDepth = 599.527502; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:599.527502 # Seafloor depth:-639.527502 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 56.463859 meters # Minimum depth: 637.833402 meters looking forward 0.000000 meters along route # Maximum depth: 637.833402 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 597.833402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999610; longitude = -119.134095; captureRadius = 10; duration = 56; initialDepth = 596.953376; finalDepth = 597.833402; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:597.833402 # Seafloor depth:-637.833402 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 56.463859 meters # Minimum depth: 636.953376 meters looking forward 0.000000 meters along route # Maximum depth: 636.953376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.953376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000043; longitude = -119.133901; captureRadius = 10; duration = 56; initialDepth = 596.238101; finalDepth = 596.953376; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.953376 # Seafloor depth:-636.953376 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 56.463859 meters # Minimum depth: 636.238101 meters looking forward 0.000000 meters along route # Maximum depth: 636.238101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.238101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000527; longitude = -119.133685; captureRadius = 10; duration = 56; initialDepth = 595.950104; finalDepth = 596.238101; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.238101 # Seafloor depth:-636.238101 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 56.463859 meters # Minimum depth: 635.950104 meters looking forward 0.000000 meters along route # Maximum depth: 635.950104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.950104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001053; longitude = -119.133449; captureRadius = 10; duration = 56; initialDepth = 594.540140; finalDepth = 595.950104; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:595.950104 # Seafloor depth:-635.950104 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 56.463859 meters # Minimum depth: 634.540140 meters looking forward 0.000000 meters along route # Maximum depth: 634.540140 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.540140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001594; longitude = -119.133207; captureRadius = 10; duration = 56; initialDepth = 592.292210; finalDepth = 594.540140; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.54014 # Seafloor depth:-634.540140 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 56.463859 meters # Minimum depth: 632.292210 meters looking forward 0.000000 meters along route # Maximum depth: 632.292210 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 592.292210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002135; longitude = -119.132964; captureRadius = 10; duration = 56; initialDepth = 591.518600; finalDepth = 592.292210; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:592.29221 # Seafloor depth:-632.292210 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 56.463859 meters # Minimum depth: 631.518600 meters looking forward 0.000000 meters along route # Maximum depth: 631.518600 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.518600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002676; longitude = -119.132722; captureRadius = 10; duration = 56; initialDepth = 590.579649; finalDepth = 591.518600; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.5186 # Seafloor depth:-631.518600 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 56.463859 meters # Minimum depth: 630.579649 meters looking forward 0.000000 meters along route # Maximum depth: 630.579649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.579649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003217; longitude = -119.132480; captureRadius = 10; duration = 56; initialDepth = 589.953098; finalDepth = 590.579649; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.579649 # Seafloor depth:-630.579649 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 56.463859 meters # Minimum depth: 629.953098 meters looking forward 0.000000 meters along route # Maximum depth: 629.953098 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.953098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003758; longitude = -119.132237; captureRadius = 10; duration = 56; initialDepth = 589.909439; finalDepth = 589.953098; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:589.953098 # Seafloor depth:-629.953098 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 102 # Segment length 56.463859 meters # Minimum depth: 629.909439 meters looking forward 0.000000 meters along route # Maximum depth: 629.909439 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.909439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004239; longitude = -119.132022; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 589.270569; finalDepth = 589.909439; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:589.909439 # Seafloor depth:-629.909439 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 56.463859 meters # Minimum depth: 629.270569 meters looking forward 0.000000 meters along route # Maximum depth: 629.270569 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.270569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004660; longitude = -119.132111; captureRadius = 10; duration = 56; initialDepth = 586.605489; finalDepth = 589.270569; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:589.270569 # Seafloor depth:-629.270569 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 56.463859 meters # Minimum depth: 626.605489 meters looking forward 0.000000 meters along route # Maximum depth: 626.605489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.605489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005201; longitude = -119.132226; captureRadius = 10; duration = 56; initialDepth = 585.052673; finalDepth = 586.605489; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.605489 # Seafloor depth:-626.605489 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 56.463859 meters # Minimum depth: 625.052673 meters looking forward 0.000000 meters along route # Maximum depth: 625.052673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.052673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005742; longitude = -119.132341; captureRadius = 10; duration = 56; initialDepth = 582.550967; finalDepth = 585.052673; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.052673 # Seafloor depth:-625.052673 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 56.463859 meters # Minimum depth: 622.550967 meters looking forward 0.000000 meters along route # Maximum depth: 622.550967 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.550967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006283; longitude = -119.132456; captureRadius = 10; duration = 56; initialDepth = 582.324991; finalDepth = 582.550967; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.550967 # Seafloor depth:-622.550967 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 56.463859 meters # Minimum depth: 622.324991 meters looking forward 0.000000 meters along route # Maximum depth: 622.324991 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.324991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006824; longitude = -119.132571; captureRadius = 10; duration = 56; initialDepth = 580.079651; finalDepth = 582.324991; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.324991 # Seafloor depth:-622.324991 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 101 # Segment length 56.463859 meters # Minimum depth: 620.079651 meters looking forward 0.000000 meters along route # Maximum depth: 620.079651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.079651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007305; longitude = -119.132673; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 578.437360; finalDepth = 580.079651; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.079651 # Seafloor depth:-620.079651 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 56.463859 meters # Minimum depth: 618.437360 meters looking forward 0.000000 meters along route # Maximum depth: 618.437360 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.437360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007602; longitude = -119.132817; captureRadius = 10; duration = 56; initialDepth = 577.479535; finalDepth = 578.437360; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.43736 # Seafloor depth:-618.437360 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 56.463859 meters # Minimum depth: 617.479535 meters looking forward 0.000000 meters along route # Maximum depth: 617.479535 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.479535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008086; longitude = -119.133053; captureRadius = 10; duration = 56; initialDepth = 575.064175; finalDepth = 577.479535; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.479535 # Seafloor depth:-617.479535 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 56.463859 meters # Minimum depth: 615.064175 meters looking forward 0.000000 meters along route # Maximum depth: 615.064175 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.064175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008627; longitude = -119.133316; captureRadius = 10; duration = 56; initialDepth = 573.678981; finalDepth = 575.064175; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.064175 # Seafloor depth:-615.064175 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 56.463859 meters # Minimum depth: 613.678981 meters looking forward 0.000000 meters along route # Maximum depth: 613.678981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.678981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009168; longitude = -119.133579; captureRadius = 10; duration = 56; initialDepth = 572.111227; finalDepth = 573.678981; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.678981 # Seafloor depth:-613.678981 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 56.463859 meters # Minimum depth: 612.111227 meters looking forward 0.000000 meters along route # Maximum depth: 612.111227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.111227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009709; longitude = -119.133842; captureRadius = 10; duration = 56; initialDepth = 569.022369; finalDepth = 572.111227; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:572.111227 # Seafloor depth:-612.111227 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 100 # Segment length 56.463859 meters # Minimum depth: 609.022369 meters looking forward 0.000000 meters along route # Maximum depth: 609.022369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.022369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010130; longitude = -119.134046; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 568.280647; finalDepth = 569.022369; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.022369 # Seafloor depth:-609.022369 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 56.463859 meters # Minimum depth: 608.280647 meters looking forward 0.000000 meters along route # Maximum depth: 608.280647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 568.280647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010250; longitude = -119.134191; captureRadius = 10; duration = 56; initialDepth = 566.313197; finalDepth = 568.280647; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:568.280647 # Seafloor depth:-608.280647 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 56.463859 meters # Minimum depth: 606.313197 meters looking forward 0.000000 meters along route # Maximum depth: 606.313197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.313197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010611; longitude = -119.134624; captureRadius = 10; duration = 56; initialDepth = 564.784799; finalDepth = 566.313197; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:566.313197 # Seafloor depth:-606.313197 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 56.463859 meters # Minimum depth: 604.784799 meters looking forward 0.000000 meters along route # Maximum depth: 604.784799 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.784799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010972; longitude = -119.135058; captureRadius = 10; duration = 56; initialDepth = 562.975889; finalDepth = 564.784799; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:564.784799 # Seafloor depth:-604.784799 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 56.463859 meters # Minimum depth: 602.975889 meters looking forward 0.000000 meters along route # Maximum depth: 602.975889 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.975889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011332; longitude = -119.135491; captureRadius = 10; duration = 56; initialDepth = 560.269356; finalDepth = 562.975889; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:562.975889 # Seafloor depth:-602.975889 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 56.463859 meters # Minimum depth: 600.269356 meters looking forward 0.000000 meters along route # Maximum depth: 600.269356 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.269356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011693; longitude = -119.135925; captureRadius = 10; duration = 56; initialDepth = 558.000537; finalDepth = 560.269356; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.269356 # Seafloor depth:-600.269356 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 56.463859 meters # Minimum depth: 598.000537 meters looking forward 0.000000 meters along route # Maximum depth: 598.000537 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.000537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012054; longitude = -119.136358; captureRadius = 10; duration = 56; initialDepth = 555.022772; finalDepth = 558.000537; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.000537 # Seafloor depth:-598.000537 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 56.463859 meters # Minimum depth: 595.022772 meters looking forward 0.000000 meters along route # Maximum depth: 595.022772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.022772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012415; longitude = -119.136792; captureRadius = 10; duration = 56; initialDepth = 553.031093; finalDepth = 555.022772; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:555.022772 # Seafloor depth:-595.022772 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 56.463859 meters # Minimum depth: 593.031093 meters looking forward 0.000000 meters along route # Maximum depth: 593.031093 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.031093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012775; longitude = -119.137225; captureRadius = 10; duration = 56; initialDepth = 550.529689; finalDepth = 553.031093; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.031093 # Seafloor depth:-593.031093 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 56.463859 meters # Minimum depth: 590.529689 meters looking forward 0.000000 meters along route # Maximum depth: 590.529689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.529689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013136; longitude = -119.137659; captureRadius = 10; duration = 56; initialDepth = 548.079193; finalDepth = 550.529689; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:550.529689 # Seafloor depth:-590.529689 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 99 # Segment length 56.463859 meters # Minimum depth: 588.079193 meters looking forward 0.000000 meters along route # Maximum depth: 588.079193 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.079193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013557; longitude = -119.138165; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 547.186597; finalDepth = 548.079193; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:548.079193 # Seafloor depth:-588.079193 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 56.463859 meters # Minimum depth: 587.186597 meters looking forward 0.000000 meters along route # Maximum depth: 587.186597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.186597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013749; longitude = -119.138454; captureRadius = 10; duration = 56; initialDepth = 545.296317; finalDepth = 547.186597; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.186597 # Seafloor depth:-587.186597 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 56.463859 meters # Minimum depth: 585.296317 meters looking forward 0.000000 meters along route # Maximum depth: 585.296317 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.296317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014038; longitude = -119.138888; captureRadius = 10; duration = 56; initialDepth = 542.960442; finalDepth = 545.296317; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.296317 # Seafloor depth:-585.296317 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 56.463859 meters # Minimum depth: 582.960442 meters looking forward 0.000000 meters along route # Maximum depth: 582.960442 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.960442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014326; longitude = -119.139321; captureRadius = 10; duration = 56; initialDepth = 543.144027; finalDepth = 542.960442; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:542.960442 # Seafloor depth:-582.960442 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 56.463859 meters # Minimum depth: 583.144027 meters looking forward 0.000000 meters along route # Maximum depth: 583.144027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.144027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014615; longitude = -119.139755; captureRadius = 10; duration = 56; initialDepth = 541.424651; finalDepth = 543.144027; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.144027 # Seafloor depth:-583.144027 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 56.463859 meters # Minimum depth: 581.424651 meters looking forward 0.000000 meters along route # Maximum depth: 581.424651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.424651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014903; longitude = -119.140189; captureRadius = 10; duration = 56; initialDepth = 541.615467; finalDepth = 541.424651; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:541.424651 # Seafloor depth:-581.424651 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 56.463859 meters # Minimum depth: 581.615467 meters looking forward 0.000000 meters along route # Maximum depth: 581.615467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.615467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015192; longitude = -119.140622; captureRadius = 10; duration = 56; initialDepth = 540.021479; finalDepth = 541.615467; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:541.615467 # Seafloor depth:-581.615467 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 56.463859 meters # Minimum depth: 580.021479 meters looking forward 0.000000 meters along route # Maximum depth: 580.021479 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.021479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015480; longitude = -119.141056; captureRadius = 10; duration = 56; initialDepth = 539.311050; finalDepth = 540.021479; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.021479 # Seafloor depth:-580.021479 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 56.463859 meters # Minimum depth: 579.311050 meters looking forward 0.000000 meters along route # Maximum depth: 579.311050 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.311050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015769; longitude = -119.141489; captureRadius = 10; duration = 56; initialDepth = 538.020853; finalDepth = 539.311050; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.31105 # Seafloor depth:-579.311050 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 56.463859 meters # Minimum depth: 578.020853 meters looking forward 0.000000 meters along route # Maximum depth: 578.020853 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.020853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016057; longitude = -119.141923; captureRadius = 10; duration = 56; initialDepth = 536.944305; finalDepth = 538.020853; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.020853 # Seafloor depth:-578.020853 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 98 # Segment length 56.463859 meters # Minimum depth: 576.944305 meters looking forward 0.000000 meters along route # Maximum depth: 576.944305 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.944305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016442; longitude = -119.142501; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 536.113351; finalDepth = 536.944305; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.944305 # Seafloor depth:-576.944305 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 56.463859 meters # Minimum depth: 576.113351 meters looking forward 0.000000 meters along route # Maximum depth: 576.113351 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.113351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016743; longitude = -119.142833; captureRadius = 10; duration = 56; initialDepth = 534.908849; finalDepth = 536.113351; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.113351 # Seafloor depth:-576.113351 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 56.463859 meters # Minimum depth: 574.908849 meters looking forward 0.000000 meters along route # Maximum depth: 574.908849 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.908849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017103; longitude = -119.143230; captureRadius = 10; duration = 56; initialDepth = 533.033352; finalDepth = 534.908849; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.908849 # Seafloor depth:-574.908849 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 56.463859 meters # Minimum depth: 573.033352 meters looking forward 0.000000 meters along route # Maximum depth: 573.033352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.033352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017491; longitude = -119.143657; captureRadius = 10; duration = 56; initialDepth = 531.111448; finalDepth = 533.033352; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:533.033352 # Seafloor depth:-573.033352 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 56.463859 meters # Minimum depth: 571.111448 meters looking forward 0.000000 meters along route # Maximum depth: 571.111448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.111448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017825; longitude = -119.144025; captureRadius = 10; duration = 56; initialDepth = 527.037498; finalDepth = 531.111448; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:531.111448 # Seafloor depth:-571.111448 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 56.463859 meters # Minimum depth: 567.037498 meters looking forward 0.000000 meters along route # Maximum depth: 567.037498 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.037498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018186; longitude = -119.144423; captureRadius = 10; duration = 56; initialDepth = 523.621704; finalDepth = 527.037498; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:527.037498 # Seafloor depth:-567.037498 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 97 # Segment length 56.463859 meters # Minimum depth: 563.621704 meters looking forward 0.000000 meters along route # Maximum depth: 563.621704 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.621704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018606; longitude = -119.144886; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 522.664030; finalDepth = 523.621704; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:523.621704 # Seafloor depth:-563.621704 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 56.463859 meters # Minimum depth: 562.664030 meters looking forward 0.000000 meters along route # Maximum depth: 562.664030 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.664030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018727; longitude = -119.144870; captureRadius = 10; duration = 56; initialDepth = 521.045692; finalDepth = 522.664030; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:522.66403 # Seafloor depth:-562.664030 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 56.463859 meters # Minimum depth: 561.045692 meters looking forward 0.000000 meters along route # Maximum depth: 561.045692 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.045692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019268; longitude = -119.144800; captureRadius = 10; duration = 56; initialDepth = 512.490359; finalDepth = 521.045692; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:521.045692 # Seafloor depth:-561.045692 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 56.463859 meters # Minimum depth: 552.490359 meters looking forward 0.000000 meters along route # Maximum depth: 552.490359 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 512.490359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019809; longitude = -119.144730; captureRadius = 10; duration = 56; initialDepth = 504.518352; finalDepth = 512.490359; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:512.490359 # Seafloor depth:-552.490359 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 56.463859 meters # Minimum depth: 544.518352 meters looking forward 0.000000 meters along route # Maximum depth: 544.518352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.518352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020350; longitude = -119.144660; captureRadius = 10; duration = 56; initialDepth = 505.642014; finalDepth = 504.518352; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.518352 # Seafloor depth:-544.518352 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 96 # Segment length 56.463859 meters # Minimum depth: 545.642014 meters looking forward 0.000000 meters along route # Maximum depth: 545.642014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.642014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020831; longitude = -119.144597; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 500.421658; finalDepth = 505.642014; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:505.642014 # Seafloor depth:-545.642014 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 56.463859 meters # Minimum depth: 540.421658 meters looking forward 0.000000 meters along route # Maximum depth: 540.421658 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.421658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021071; longitude = -119.144399; captureRadius = 10; duration = 56; initialDepth = 494.113636; finalDepth = 500.421658; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:500.421658 # Seafloor depth:-540.421658 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 56.463859 meters # Minimum depth: 534.113636 meters looking forward 0.000000 meters along route # Maximum depth: 534.113636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.113636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021443; longitude = -119.144091; captureRadius = 10; duration = 56; initialDepth = 494.896770; finalDepth = 494.113636; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:494.113636 # Seafloor depth:-534.113636 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 56.463859 meters # Minimum depth: 534.896770 meters looking forward 0.000000 meters along route # Maximum depth: 534.896770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.896770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021973; longitude = -119.143653; captureRadius = 10; duration = 56; initialDepth = 493.716780; finalDepth = 494.896770; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:494.89677 # Seafloor depth:-534.896770 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 56.463859 meters # Minimum depth: 533.716780 meters looking forward 0.000000 meters along route # Maximum depth: 533.716780 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 493.716780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022492; longitude = -119.143224; captureRadius = 10; duration = 56; initialDepth = 490.402194; finalDepth = 493.716780; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:493.71678 # Seafloor depth:-533.716780 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 56.463859 meters # Minimum depth: 530.402194 meters looking forward 0.000000 meters along route # Maximum depth: 530.402194 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.402194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022875; longitude = -119.142908; captureRadius = 10; duration = 56; initialDepth = 487.690771; finalDepth = 490.402194; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:490.402194 # Seafloor depth:-530.402194 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 56.463859 meters # Minimum depth: 527.690771 meters looking forward 0.000000 meters along route # Maximum depth: 527.690771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 487.690771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023279; longitude = -119.142573; captureRadius = 10; duration = 56; initialDepth = 482.965256; finalDepth = 487.690771; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:487.690771 # Seafloor depth:-527.690771 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 95 # Segment length 56.463859 meters # Minimum depth: 522.965256 meters looking forward 0.000000 meters along route # Maximum depth: 522.965256 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.965256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023716; longitude = -119.142212; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 480.587188; finalDepth = 482.965256; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:482.965256 # Seafloor depth:-522.965256 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 56.463859 meters # Minimum depth: 520.587188 meters looking forward 0.000000 meters along route # Maximum depth: 520.587188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.587188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023981; longitude = -119.141923; captureRadius = 10; duration = 56; initialDepth = 475.989399; finalDepth = 480.587188; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:480.587188 # Seafloor depth:-520.587188 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 56.463859 meters # Minimum depth: 515.989399 meters looking forward 0.000000 meters along route # Maximum depth: 515.989399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 475.989399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024317; longitude = -119.141557; captureRadius = 10; duration = 56; initialDepth = 471.931504; finalDepth = 475.989399; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:475.989399 # Seafloor depth:-515.989399 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 56.463859 meters # Minimum depth: 511.931504 meters looking forward 0.000000 meters along route # Maximum depth: 511.931504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.931504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024678; longitude = -119.141164; captureRadius = 10; duration = 56; initialDepth = 469.546656; finalDepth = 471.931504; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:471.931504 # Seafloor depth:-511.931504 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 56.463859 meters # Minimum depth: 509.546656 meters looking forward 0.000000 meters along route # Maximum depth: 509.546656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 469.546656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025039; longitude = -119.140771; captureRadius = 10; duration = 56; initialDepth = 466.262911; finalDepth = 469.546656; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:469.546656 # Seafloor depth:-509.546656 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 56.463859 meters # Minimum depth: 506.262911 meters looking forward 0.000000 meters along route # Maximum depth: 506.262911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.262911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025399; longitude = -119.140378; captureRadius = 10; duration = 56; initialDepth = 463.555665; finalDepth = 466.262911; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:466.262911 # Seafloor depth:-506.262911 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 56.463859 meters # Minimum depth: 503.555665 meters looking forward 0.000000 meters along route # Maximum depth: 503.555665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 463.555665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025772; longitude = -119.139972; captureRadius = 10; duration = 56; initialDepth = 460.117101; finalDepth = 463.555665; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:463.555665 # Seafloor depth:-503.555665 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 56.463859 meters # Minimum depth: 500.117101 meters looking forward 0.000000 meters along route # Maximum depth: 500.117101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 460.117101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026121; longitude = -119.139592; captureRadius = 10; duration = 56; initialDepth = 457.581332; finalDepth = 460.117101; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:460.117101 # Seafloor depth:-500.117101 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 56.463859 meters # Minimum depth: 497.581332 meters looking forward 0.000000 meters along route # Maximum depth: 497.581332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.581332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026481; longitude = -119.139199; captureRadius = 10; duration = 56; initialDepth = 455.012296; finalDepth = 457.581332; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:457.581332 # Seafloor depth:-497.581332 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 56.463859 meters # Minimum depth: 495.012296 meters looking forward 0.000000 meters along route # Maximum depth: 495.012296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 455.012296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026842; longitude = -119.138806; captureRadius = 10; duration = 56; initialDepth = 452.984087; finalDepth = 455.012296; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:455.012296 # Seafloor depth:-495.012296 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 56.463859 meters # Minimum depth: 492.984087 meters looking forward 0.000000 meters along route # Maximum depth: 492.984087 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 452.984087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027203; longitude = -119.138413; captureRadius = 10; duration = 56; initialDepth = 451.084177; finalDepth = 452.984087; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:452.984087 # Seafloor depth:-492.984087 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 56.463859 meters # Minimum depth: 491.084177 meters looking forward 0.000000 meters along route # Maximum depth: 491.084177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 451.084177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027563; longitude = -119.138021; captureRadius = 10; duration = 56; initialDepth = 449.562211; finalDepth = 451.084177; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:451.084177 # Seafloor depth:-491.084177 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 56.463859 meters # Minimum depth: 489.562211 meters looking forward 0.000000 meters along route # Maximum depth: 489.562211 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 449.562211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027924; longitude = -119.137628; captureRadius = 10; duration = 56; initialDepth = 447.946263; finalDepth = 449.562211; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:449.562211 # Seafloor depth:-489.562211 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 56.463859 meters # Minimum depth: 487.946263 meters looking forward 0.000000 meters along route # Maximum depth: 487.946263 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 447.946263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028285; longitude = -119.137235; captureRadius = 10; duration = 56; initialDepth = 446.606860; finalDepth = 447.946263; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:447.946263 # Seafloor depth:-487.946263 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 56.463859 meters # Minimum depth: 486.606860 meters looking forward 0.000000 meters along route # Maximum depth: 486.606860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 446.606860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028646; longitude = -119.136842; captureRadius = 10; duration = 56; initialDepth = 444.851900; finalDepth = 446.606860; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:446.60686 # Seafloor depth:-486.606860 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 56.463859 meters # Minimum depth: 484.851900 meters looking forward 0.000000 meters along route # Maximum depth: 484.851900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 444.851900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029006; longitude = -119.136449; captureRadius = 10; duration = 56; initialDepth = 442.769211; finalDepth = 444.851900; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:444.8519 # Seafloor depth:-484.851900 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 94 # Segment length 56.463859 meters # Minimum depth: 482.769211 meters looking forward 0.000000 meters along route # Maximum depth: 482.769211 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.769211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029487; longitude = -119.135925; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 442.192781; finalDepth = 442.769211; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:442.769211 # Seafloor depth:-482.769211 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 56.463859 meters # Minimum depth: 482.192781 meters looking forward 0.000000 meters along route # Maximum depth: 482.192781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.192781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029574; longitude = -119.135853; captureRadius = 10; duration = 56; initialDepth = 439.420607; finalDepth = 442.192781; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:442.192781 # Seafloor depth:-482.192781 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 56.463859 meters # Minimum depth: 479.420607 meters looking forward 0.000000 meters along route # Maximum depth: 479.420607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 439.420607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030093; longitude = -119.135419; captureRadius = 10; duration = 56; initialDepth = 436.263828; finalDepth = 439.420607; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:439.420607 # Seafloor depth:-479.420607 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 56.463859 meters # Minimum depth: 476.263828 meters looking forward 0.000000 meters along route # Maximum depth: 476.263828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.263828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030629; longitude = -119.134971; captureRadius = 10; duration = 56; initialDepth = 432.929167; finalDepth = 436.263828; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:436.263828 # Seafloor depth:-476.263828 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 56.463859 meters # Minimum depth: 472.929167 meters looking forward 0.000000 meters along route # Maximum depth: 472.929167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 432.929167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031170; longitude = -119.134519; captureRadius = 10; duration = 56; initialDepth = 430.280732; finalDepth = 432.929167; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:432.929167 # Seafloor depth:-472.929167 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 56.463859 meters # Minimum depth: 470.280732 meters looking forward 0.000000 meters along route # Maximum depth: 470.280732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 430.280732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031711; longitude = -119.134067; captureRadius = 10; duration = 56; initialDepth = 427.743201; finalDepth = 430.280732; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:430.280732 # Seafloor depth:-470.280732 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 56.463859 meters # Minimum depth: 467.743201 meters looking forward 0.000000 meters along route # Maximum depth: 467.743201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 427.743201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032169; longitude = -119.133685; captureRadius = 10; duration = 56; initialDepth = 425.552026; finalDepth = 427.743201; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:427.743201 # Seafloor depth:-467.743201 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 56.463859 meters # Minimum depth: 465.552026 meters looking forward 0.000000 meters along route # Maximum depth: 465.552026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 425.552026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032613; longitude = -119.133314; captureRadius = 10; duration = 56; initialDepth = 423.111847; finalDepth = 425.552026; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:425.552026 # Seafloor depth:-465.552026 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 93 # Segment length 56.463859 meters # Minimum depth: 463.111847 meters looking forward 0.000000 meters along route # Maximum depth: 463.111847 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 423.111847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033034; longitude = -119.132962; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 421.968698; finalDepth = 423.111847; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:423.111847 # Seafloor depth:-463.111847 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 56.463859 meters # Minimum depth: 461.968698 meters looking forward 0.000000 meters along route # Maximum depth: 461.968698 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 421.968698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033334; longitude = -119.132864; captureRadius = 10; duration = 56; initialDepth = 419.408519; finalDepth = 421.968698; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:421.968698 # Seafloor depth:-461.968698 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 56.463859 meters # Minimum depth: 459.408519 meters looking forward 0.000000 meters along route # Maximum depth: 459.408519 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.408519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033876; longitude = -119.132686; captureRadius = 10; duration = 56; initialDepth = 417.284968; finalDepth = 419.408519; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:419.408519 # Seafloor depth:-459.408519 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 56.463859 meters # Minimum depth: 457.284968 meters looking forward 0.000000 meters along route # Maximum depth: 457.284968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.284968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034417; longitude = -119.132509; captureRadius = 10; duration = 56; initialDepth = 415.109322; finalDepth = 417.284968; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:417.284968 # Seafloor depth:-457.284968 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 92 # Segment length 56.463859 meters # Minimum depth: 455.109322 meters looking forward 0.000000 meters along route # Maximum depth: 455.109322 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 415.109322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035018; longitude = -119.132312; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 415.044653; finalDepth = 415.109322; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:415.109322 # Seafloor depth:-455.109322 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 56.463859 meters # Minimum depth: 455.044653 meters looking forward 0.000000 meters along route # Maximum depth: 455.044653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 415.044653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035038; longitude = -119.132384; captureRadius = 10; duration = 56; initialDepth = 414.523935; finalDepth = 415.044653; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:415.044653 # Seafloor depth:-455.044653 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 56.463859 meters # Minimum depth: 454.523935 meters looking forward 0.000000 meters along route # Maximum depth: 454.523935 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 414.523935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035218; longitude = -119.133034; captureRadius = 10; duration = 56; initialDepth = 414.380022; finalDepth = 414.523935; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:414.523935 # Seafloor depth:-454.523935 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 56.463859 meters # Minimum depth: 454.380022 meters looking forward 0.000000 meters along route # Maximum depth: 454.380022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 414.380022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035399; longitude = -119.133685; captureRadius = 10; duration = 56; initialDepth = 413.407104; finalDepth = 414.380022; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:414.380022 # Seafloor depth:-454.380022 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 91 # Segment length 56.463859 meters # Minimum depth: 453.407104 meters looking forward 0.000000 meters along route # Maximum depth: 453.407104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 413.407104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035559; longitude = -119.134263; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 413.553281; finalDepth = 413.407104; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:413.407104 # Seafloor depth:-453.407104 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 453.553281 meters looking forward 0.000000 meters along route # Maximum depth: 453.553281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 413.553281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035499; longitude = -119.134319; captureRadius = 10; duration = 56; initialDepth = 414.448613; finalDepth = 413.553281; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:413.553281 # Seafloor depth:-453.553281 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 454.448613 meters looking forward 0.000000 meters along route # Maximum depth: 454.448613 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 414.448613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.035138; longitude = -119.134651; captureRadius = 10; duration = 56; initialDepth = 415.723294; finalDepth = 414.448613; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:414.448613 # Seafloor depth:-454.448613 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 455.723294 meters looking forward 0.000000 meters along route # Maximum depth: 455.723294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 415.723294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034775; longitude = -119.134985; captureRadius = 10; duration = 56; initialDepth = 415.713962; finalDepth = 415.723294; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:415.723294 # Seafloor depth:-455.723294 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 455.713962 meters looking forward 0.000000 meters along route # Maximum depth: 455.713962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 415.713962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034417; longitude = -119.135315; captureRadius = 10; duration = 56; initialDepth = 415.489799; finalDepth = 415.713962; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:415.713962 # Seafloor depth:-455.713962 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 455.489799 meters looking forward 0.000000 meters along route # Maximum depth: 455.489799 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 415.489799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.034056; longitude = -119.135647; captureRadius = 10; duration = 56; initialDepth = 416.033843; finalDepth = 415.489799; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:415.489799 # Seafloor depth:-455.489799 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 456.033843 meters looking forward 0.000000 meters along route # Maximum depth: 456.033843 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 416.033843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033695; longitude = -119.135979; captureRadius = 10; duration = 56; initialDepth = 416.993001; finalDepth = 416.033843; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:416.033843 # Seafloor depth:-456.033843 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 456.993001 meters looking forward 0.000000 meters along route # Maximum depth: 456.993001 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 416.993001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.033334; longitude = -119.136311; captureRadius = 10; duration = 56; initialDepth = 418.650888; finalDepth = 416.993001; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:416.993001 # Seafloor depth:-456.993001 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 458.650888 meters looking forward 0.000000 meters along route # Maximum depth: 458.650888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.650888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032974; longitude = -119.136644; captureRadius = 10; duration = 56; initialDepth = 419.704771; finalDepth = 418.650888; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:418.650888 # Seafloor depth:-458.650888 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 459.704771 meters looking forward 0.000000 meters along route # Maximum depth: 459.704771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.704771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032613; longitude = -119.136976; captureRadius = 10; duration = 56; initialDepth = 421.757821; finalDepth = 419.704771; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:419.704771 # Seafloor depth:-459.704771 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 461.757821 meters looking forward 0.000000 meters along route # Maximum depth: 461.757821 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 421.757821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.032252; longitude = -119.137308; captureRadius = 10; duration = 56; initialDepth = 423.481864; finalDepth = 421.757821; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:421.757821 # Seafloor depth:-461.757821 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 463.481864 meters looking forward 0.000000 meters along route # Maximum depth: 463.481864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 423.481864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031892; longitude = -119.137640; captureRadius = 10; duration = 56; initialDepth = 425.832361; finalDepth = 423.481864; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:423.481864 # Seafloor depth:-463.481864 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 465.832361 meters looking forward 0.000000 meters along route # Maximum depth: 465.832361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 425.832361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031531; longitude = -119.137972; captureRadius = 10; duration = 56; initialDepth = 428.523185; finalDepth = 425.832361; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:425.832361 # Seafloor depth:-465.832361 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 468.523185 meters looking forward 0.000000 meters along route # Maximum depth: 468.523185 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 428.523185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.031170; longitude = -119.138304; captureRadius = 10; duration = 56; initialDepth = 431.016598; finalDepth = 428.523185; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:428.523185 # Seafloor depth:-468.523185 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 471.016598 meters looking forward 0.000000 meters along route # Maximum depth: 471.016598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 431.016598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030810; longitude = -119.138637; captureRadius = 10; duration = 56; initialDepth = 433.638694; finalDepth = 431.016598; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:431.016598 # Seafloor depth:-471.016598 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 473.638694 meters looking forward 0.000000 meters along route # Maximum depth: 473.638694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 433.638694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030449; longitude = -119.138969; captureRadius = 10; duration = 56; initialDepth = 435.931191; finalDepth = 433.638694; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:433.638694 # Seafloor depth:-473.638694 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 475.931191 meters looking forward 0.000000 meters along route # Maximum depth: 475.931191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 435.931191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.030088; longitude = -119.139301; captureRadius = 10; duration = 56; initialDepth = 435.378066; finalDepth = 435.931191; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:435.931191 # Seafloor depth:-475.931191 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 475.378066 meters looking forward 0.000000 meters along route # Maximum depth: 475.378066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 435.378066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029728; longitude = -119.139633; captureRadius = 10; duration = 56; initialDepth = 435.096974; finalDepth = 435.378066; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:435.378066 # Seafloor depth:-475.378066 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 475.096974 meters looking forward 0.000000 meters along route # Maximum depth: 475.096974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 435.096974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029367; longitude = -119.139965; captureRadius = 10; duration = 56; initialDepth = 435.807891; finalDepth = 435.096974; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:435.096974 # Seafloor depth:-475.096974 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 475.807891 meters looking forward 0.000000 meters along route # Maximum depth: 475.807891 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 435.807891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.029006; longitude = -119.140297; captureRadius = 10; duration = 56; initialDepth = 436.717197; finalDepth = 435.807891; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:435.807891 # Seafloor depth:-475.807891 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 476.717197 meters looking forward 0.000000 meters along route # Maximum depth: 476.717197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.717197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028646; longitude = -119.140629; captureRadius = 10; duration = 56; initialDepth = 437.652959; finalDepth = 436.717197; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:436.717197 # Seafloor depth:-476.717197 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 477.652959 meters looking forward 0.000000 meters along route # Maximum depth: 477.652959 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.652959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028285; longitude = -119.140962; captureRadius = 10; duration = 56; initialDepth = 439.538011; finalDepth = 437.652959; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:437.652959 # Seafloor depth:-477.652959 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 479.538011 meters looking forward 0.000000 meters along route # Maximum depth: 479.538011 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 439.538011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027924; longitude = -119.141294; captureRadius = 10; duration = 56; initialDepth = 441.269456; finalDepth = 439.538011; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:439.538011 # Seafloor depth:-479.538011 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 481.269456 meters looking forward 0.000000 meters along route # Maximum depth: 481.269456 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 441.269456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027563; longitude = -119.141626; captureRadius = 10; duration = 56; initialDepth = 443.066456; finalDepth = 441.269456; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:441.269456 # Seafloor depth:-481.269456 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 483.066456 meters looking forward 0.000000 meters along route # Maximum depth: 483.066456 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.066456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027203; longitude = -119.141958; captureRadius = 10; duration = 56; initialDepth = 447.177307; finalDepth = 443.066456; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:443.066456 # Seafloor depth:-483.066456 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 487.177307 meters looking forward 0.000000 meters along route # Maximum depth: 487.177307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 447.177307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026842; longitude = -119.142290; captureRadius = 10; duration = 56; initialDepth = 451.748365; finalDepth = 447.177307; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:447.177307 # Seafloor depth:-487.177307 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 491.748365 meters looking forward 0.000000 meters along route # Maximum depth: 491.748365 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 451.748365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026481; longitude = -119.142622; captureRadius = 10; duration = 56; initialDepth = 454.697007; finalDepth = 451.748365; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:451.748365 # Seafloor depth:-491.748365 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 494.697007 meters looking forward 0.000000 meters along route # Maximum depth: 494.697007 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.697007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026121; longitude = -119.142954; captureRadius = 10; duration = 56; initialDepth = 456.691768; finalDepth = 454.697007; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:454.697007 # Seafloor depth:-494.697007 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 496.691768 meters looking forward 0.000000 meters along route # Maximum depth: 496.691768 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.691768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025760; longitude = -119.143287; captureRadius = 10; duration = 56; initialDepth = 461.831477; finalDepth = 456.691768; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:456.691768 # Seafloor depth:-496.691768 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 501.831477 meters looking forward 0.000000 meters along route # Maximum depth: 501.831477 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 461.831477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025399; longitude = -119.143619; captureRadius = 10; duration = 56; initialDepth = 462.533297; finalDepth = 461.831477; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:461.831477 # Seafloor depth:-501.831477 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 502.533297 meters looking forward 0.000000 meters along route # Maximum depth: 502.533297 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.533297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025039; longitude = -119.143951; captureRadius = 10; duration = 56; initialDepth = 465.842441; finalDepth = 462.533297; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:462.533297 # Seafloor depth:-502.533297 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 505.842441 meters looking forward 0.000000 meters along route # Maximum depth: 505.842441 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 465.842441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024678; longitude = -119.144283; captureRadius = 10; duration = 56; initialDepth = 470.998976; finalDepth = 465.842441; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:465.842441 # Seafloor depth:-505.842441 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 510.998976 meters looking forward 0.000000 meters along route # Maximum depth: 510.998976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 470.998976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024317; longitude = -119.144615; captureRadius = 10; duration = 56; initialDepth = 474.569715; finalDepth = 470.998976; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:470.998976 # Seafloor depth:-510.998976 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 514.569715 meters looking forward 0.000000 meters along route # Maximum depth: 514.569715 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 474.569715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023957; longitude = -119.144947; captureRadius = 10; duration = 56; initialDepth = 478.433130; finalDepth = 474.569715; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:474.569715 # Seafloor depth:-514.569715 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 518.433130 meters looking forward 0.000000 meters along route # Maximum depth: 518.433130 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.433130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023596; longitude = -119.145279; captureRadius = 10; duration = 56; initialDepth = 480.836220; finalDepth = 478.433130; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:478.43313 # Seafloor depth:-518.433130 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 520.836220 meters looking forward 0.000000 meters along route # Maximum depth: 520.836220 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.836220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023235; longitude = -119.145612; captureRadius = 10; duration = 56; initialDepth = 482.389565; finalDepth = 480.836220; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:480.83622 # Seafloor depth:-520.836220 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 56.463859 meters # Minimum depth: 522.389565 meters looking forward 0.000000 meters along route # Maximum depth: 522.389565 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.389565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022875; longitude = -119.145944; captureRadius = 10; duration = 56; initialDepth = 484.838715; finalDepth = 482.389565; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:482.389565 # Seafloor depth:-522.389565 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 90 # Segment length 56.463859 meters # Minimum depth: 524.838715 meters looking forward 0.000000 meters along route # Maximum depth: 524.838715 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.838715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022454; longitude = -119.146331; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 485.848563; finalDepth = 484.838715; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:484.838715 # Seafloor depth:-524.838715 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 56.463859 meters # Minimum depth: 525.848563 meters looking forward 0.000000 meters along route # Maximum depth: 525.848563 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.848563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022333; longitude = -119.146376; captureRadius = 10; duration = 56; initialDepth = 494.669062; finalDepth = 485.848563; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:485.848563 # Seafloor depth:-525.848563 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 56.463859 meters # Minimum depth: 534.669062 meters looking forward 0.000000 meters along route # Maximum depth: 534.669062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.669062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021792; longitude = -119.146576; captureRadius = 10; duration = 56; initialDepth = 502.142508; finalDepth = 494.669062; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:494.669062 # Seafloor depth:-534.669062 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 56.463859 meters # Minimum depth: 542.142508 meters looking forward 0.000000 meters along route # Maximum depth: 542.142508 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.142508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021251; longitude = -119.146776; captureRadius = 10; duration = 56; initialDepth = 507.310620; finalDepth = 502.142508; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:502.142508 # Seafloor depth:-542.142508 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 56.463859 meters # Minimum depth: 547.310620 meters looking forward 0.000000 meters along route # Maximum depth: 547.310620 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.310620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020710; longitude = -119.146976; captureRadius = 10; duration = 56; initialDepth = 513.548889; finalDepth = 507.310620; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:507.31062 # Seafloor depth:-547.310620 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 89 # Segment length 56.463859 meters # Minimum depth: 553.548889 meters looking forward 0.000000 meters along route # Maximum depth: 553.548889 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.548889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020109; longitude = -119.147198; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 514.318562; finalDepth = 513.548889; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.548889 # Seafloor depth:-553.548889 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 56.463859 meters # Minimum depth: 554.318562 meters looking forward 0.000000 meters along route # Maximum depth: 554.318562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.318562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019989; longitude = -119.147182; captureRadius = 10; duration = 56; initialDepth = 517.421306; finalDepth = 514.318562; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:514.318562 # Seafloor depth:-554.318562 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 56.463859 meters # Minimum depth: 557.421306 meters looking forward 0.000000 meters along route # Maximum depth: 557.421306 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.421306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019448; longitude = -119.147112; captureRadius = 10; duration = 56; initialDepth = 519.641087; finalDepth = 517.421306; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:517.421306 # Seafloor depth:-557.421306 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 56.463859 meters # Minimum depth: 559.641087 meters looking forward 0.000000 meters along route # Maximum depth: 559.641087 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 519.641087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018907; longitude = -119.147041; captureRadius = 10; duration = 56; initialDepth = 520.408928; finalDepth = 519.641087; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:519.641087 # Seafloor depth:-559.641087 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 56.463859 meters # Minimum depth: 560.408928 meters looking forward 0.000000 meters along route # Maximum depth: 560.408928 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.408928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018366; longitude = -119.146970; captureRadius = 10; duration = 56; initialDepth = 521.922230; finalDepth = 520.408928; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:520.408928 # Seafloor depth:-560.408928 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 56.463859 meters # Minimum depth: 561.922230 meters looking forward 0.000000 meters along route # Maximum depth: 561.922230 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.922230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017825; longitude = -119.146900; captureRadius = 10; duration = 56; initialDepth = 529.754333; finalDepth = 521.922230; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:521.92223 # Seafloor depth:-561.922230 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 88 # Segment length 56.463859 meters # Minimum depth: 569.754333 meters looking forward 0.000000 meters along route # Maximum depth: 569.754333 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.754333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017344; longitude = -119.146837; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 530.172417; finalDepth = 529.754333; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:529.754333 # Seafloor depth:-569.754333 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 56.463859 meters # Minimum depth: 570.172417 meters looking forward 0.000000 meters along route # Maximum depth: 570.172417 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.172417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017284; longitude = -119.146772; captureRadius = 10; duration = 56; initialDepth = 531.868620; finalDepth = 530.172417; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:530.172417 # Seafloor depth:-570.172417 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 56.463859 meters # Minimum depth: 571.868620 meters looking forward 0.000000 meters along route # Maximum depth: 571.868620 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.868620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016923; longitude = -119.146383; captureRadius = 10; duration = 56; initialDepth = 532.611840; finalDepth = 531.868620; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:531.86862 # Seafloor depth:-571.868620 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 56.463859 meters # Minimum depth: 572.611840 meters looking forward 0.000000 meters along route # Maximum depth: 572.611840 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.611840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016562; longitude = -119.145993; captureRadius = 10; duration = 56; initialDepth = 533.219037; finalDepth = 532.611840; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:532.61184 # Seafloor depth:-572.611840 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 56.463859 meters # Minimum depth: 573.219037 meters looking forward 0.000000 meters along route # Maximum depth: 573.219037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.219037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016202; longitude = -119.145604; captureRadius = 10; duration = 56; initialDepth = 535.210635; finalDepth = 533.219037; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:533.219037 # Seafloor depth:-573.219037 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 56.463859 meters # Minimum depth: 575.210635 meters looking forward 0.000000 meters along route # Maximum depth: 575.210635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.210635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015841; longitude = -119.145215; captureRadius = 10; duration = 56; initialDepth = 536.087726; finalDepth = 535.210635; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:535.210635 # Seafloor depth:-575.210635 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 56.463859 meters # Minimum depth: 576.087726 meters looking forward 0.000000 meters along route # Maximum depth: 576.087726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.087726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015480; longitude = -119.144825; captureRadius = 10; duration = 56; initialDepth = 537.449552; finalDepth = 536.087726; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.087726 # Seafloor depth:-576.087726 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 56.463859 meters # Minimum depth: 577.449552 meters looking forward 0.000000 meters along route # Maximum depth: 577.449552 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.449552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015120; longitude = -119.144436; captureRadius = 10; duration = 56; initialDepth = 539.278007; finalDepth = 537.449552; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.449552 # Seafloor depth:-577.449552 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 56.463859 meters # Minimum depth: 579.278007 meters looking forward 0.000000 meters along route # Maximum depth: 579.278007 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.278007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014759; longitude = -119.144047; captureRadius = 10; duration = 56; initialDepth = 539.604783; finalDepth = 539.278007; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.278007 # Seafloor depth:-579.278007 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 56.463859 meters # Minimum depth: 579.604783 meters looking forward 0.000000 meters along route # Maximum depth: 579.604783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.604783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014398; longitude = -119.143657; captureRadius = 10; duration = 56; initialDepth = 541.837086; finalDepth = 539.604783; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.604783 # Seafloor depth:-579.604783 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 56.463859 meters # Minimum depth: 581.837086 meters looking forward 0.000000 meters along route # Maximum depth: 581.837086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.837086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014038; longitude = -119.143268; captureRadius = 10; duration = 56; initialDepth = 542.990816; finalDepth = 541.837086; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:541.837086 # Seafloor depth:-581.837086 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 56.463859 meters # Minimum depth: 582.990816 meters looking forward 0.000000 meters along route # Maximum depth: 582.990816 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.990816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013677; longitude = -119.142879; captureRadius = 10; duration = 56; initialDepth = 544.601673; finalDepth = 542.990816; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:542.990816 # Seafloor depth:-582.990816 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 56.463859 meters # Minimum depth: 584.601673 meters looking forward 0.000000 meters along route # Maximum depth: 584.601673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.601673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013316; longitude = -119.142489; captureRadius = 10; duration = 56; initialDepth = 545.917911; finalDepth = 544.601673; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:544.601673 # Seafloor depth:-584.601673 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 56.463859 meters # Minimum depth: 585.917911 meters looking forward 0.000000 meters along route # Maximum depth: 585.917911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.917911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012956; longitude = -119.142100; captureRadius = 10; duration = 56; initialDepth = 547.761913; finalDepth = 545.917911; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.917911 # Seafloor depth:-585.917911 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 56.463859 meters # Minimum depth: 587.761913 meters looking forward 0.000000 meters along route # Maximum depth: 587.761913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.761913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012591; longitude = -119.141706; captureRadius = 10; duration = 56; initialDepth = 549.319417; finalDepth = 547.761913; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.761913 # Seafloor depth:-587.761913 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 56.463859 meters # Minimum depth: 589.319417 meters looking forward 0.000000 meters along route # Maximum depth: 589.319417 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.319417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012234; longitude = -119.141321; captureRadius = 10; duration = 56; initialDepth = 551.131514; finalDepth = 549.319417; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:549.319417 # Seafloor depth:-589.319417 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 56.463859 meters # Minimum depth: 591.131514 meters looking forward 0.000000 meters along route # Maximum depth: 591.131514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.131514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011873; longitude = -119.140932; captureRadius = 10; duration = 56; initialDepth = 552.975433; finalDepth = 551.131514; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.131514 # Seafloor depth:-591.131514 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 87 # Segment length 56.463859 meters # Minimum depth: 592.975433 meters looking forward 0.000000 meters along route # Maximum depth: 592.975433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.975433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011453; longitude = -119.140478; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 553.431565; finalDepth = 552.975433; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.975433 # Seafloor depth:-592.975433 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 56.463859 meters # Minimum depth: 593.431565 meters looking forward 0.000000 meters along route # Maximum depth: 593.431565 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.431565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011332; longitude = -119.140349; captureRadius = 10; duration = 56; initialDepth = 555.482130; finalDepth = 553.431565; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.431565 # Seafloor depth:-593.431565 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 56.463859 meters # Minimum depth: 595.482130 meters looking forward 0.000000 meters along route # Maximum depth: 595.482130 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.482130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010972; longitude = -119.139964; captureRadius = 10; duration = 56; initialDepth = 556.227978; finalDepth = 555.482130; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:555.48213 # Seafloor depth:-595.482130 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 56.463859 meters # Minimum depth: 596.227978 meters looking forward 0.000000 meters along route # Maximum depth: 596.227978 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.227978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010611; longitude = -119.139578; captureRadius = 10; duration = 56; initialDepth = 558.503914; finalDepth = 556.227978; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.227978 # Seafloor depth:-596.227978 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 56.463859 meters # Minimum depth: 598.503914 meters looking forward 0.000000 meters along route # Maximum depth: 598.503914 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.503914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010250; longitude = -119.139193; captureRadius = 10; duration = 56; initialDepth = 560.075187; finalDepth = 558.503914; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.503914 # Seafloor depth:-598.503914 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 56.463859 meters # Minimum depth: 600.075187 meters looking forward 0.000000 meters along route # Maximum depth: 600.075187 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.075187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009890; longitude = -119.138807; captureRadius = 10; duration = 56; initialDepth = 561.895185; finalDepth = 560.075187; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.075187 # Seafloor depth:-600.075187 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 56.463859 meters # Minimum depth: 601.895185 meters looking forward 0.000000 meters along route # Maximum depth: 601.895185 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.895185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009529; longitude = -119.138422; captureRadius = 10; duration = 56; initialDepth = 563.969741; finalDepth = 561.895185; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.895185 # Seafloor depth:-601.895185 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 56.463859 meters # Minimum depth: 603.969741 meters looking forward 0.000000 meters along route # Maximum depth: 603.969741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.969741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009153; longitude = -119.138021; captureRadius = 10; duration = 56; initialDepth = 567.381748; finalDepth = 563.969741; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.969741 # Seafloor depth:-603.969741 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 56.463859 meters # Minimum depth: 607.381748 meters looking forward 0.000000 meters along route # Maximum depth: 607.381748 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 567.381748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008808; longitude = -119.137651; captureRadius = 10; duration = 56; initialDepth = 569.650937; finalDepth = 567.381748; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:567.381748 # Seafloor depth:-607.381748 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 56.463859 meters # Minimum depth: 609.650937 meters looking forward 0.000000 meters along route # Maximum depth: 609.650937 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.650937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008447; longitude = -119.137266; captureRadius = 10; duration = 56; initialDepth = 571.835151; finalDepth = 569.650937; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.650937 # Seafloor depth:-609.650937 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 56.463859 meters # Minimum depth: 611.835151 meters looking forward 0.000000 meters along route # Maximum depth: 611.835151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.835151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008086; longitude = -119.136880; captureRadius = 10; duration = 56; initialDepth = 575.142052; finalDepth = 571.835151; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.835151 # Seafloor depth:-611.835151 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 56.463859 meters # Minimum depth: 615.142052 meters looking forward 0.000000 meters along route # Maximum depth: 615.142052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.142052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007726; longitude = -119.136495; captureRadius = 10; duration = 56; initialDepth = 576.765265; finalDepth = 575.142052; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.142052 # Seafloor depth:-615.142052 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 56.463859 meters # Minimum depth: 616.765265 meters looking forward 0.000000 meters along route # Maximum depth: 616.765265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.765265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007327; longitude = -119.136069; captureRadius = 10; duration = 56; initialDepth = 578.775564; finalDepth = 576.765265; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.765265 # Seafloor depth:-616.765265 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 56.463859 meters # Minimum depth: 618.775564 meters looking forward 0.000000 meters along route # Maximum depth: 618.775564 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.775564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006922; longitude = -119.135636; captureRadius = 10; duration = 56; initialDepth = 580.838028; finalDepth = 578.775564; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.775564 # Seafloor depth:-618.775564 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 86 # Segment length 56.463859 meters # Minimum depth: 620.838028 meters looking forward 0.000000 meters along route # Maximum depth: 620.838028 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.838028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006583; longitude = -119.135274; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 581.557014; finalDepth = 580.838028; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.838028 # Seafloor depth:-620.838028 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 56.463859 meters # Minimum depth: 621.557014 meters looking forward 0.000000 meters along route # Maximum depth: 621.557014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.557014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006463; longitude = -119.135197; captureRadius = 10; duration = 56; initialDepth = 582.818367; finalDepth = 581.557014; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:581.557014 # Seafloor depth:-621.557014 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 56.463859 meters # Minimum depth: 622.818367 meters looking forward 0.000000 meters along route # Maximum depth: 622.818367 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.818367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005922; longitude = -119.134849; captureRadius = 10; duration = 56; initialDepth = 583.851752; finalDepth = 582.818367; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.818367 # Seafloor depth:-622.818367 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 56.463859 meters # Minimum depth: 623.851752 meters looking forward 0.000000 meters along route # Maximum depth: 623.851752 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.851752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005460; longitude = -119.134552; captureRadius = 10; duration = 56; initialDepth = 585.533226; finalDepth = 583.851752; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:583.851752 # Seafloor depth:-623.851752 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 56.463859 meters # Minimum depth: 625.533226 meters looking forward 0.000000 meters along route # Maximum depth: 625.533226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.533226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005020; longitude = -119.134269; captureRadius = 10; duration = 56; initialDepth = 587.397091; finalDepth = 585.533226; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.533226 # Seafloor depth:-625.533226 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 56.463859 meters # Minimum depth: 627.397091 meters looking forward 0.000000 meters along route # Maximum depth: 627.397091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.397091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004448; longitude = -119.133901; captureRadius = 10; duration = 56; initialDepth = 588.795761; finalDepth = 587.397091; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.397091 # Seafloor depth:-627.397091 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 85 # Segment length 56.463859 meters # Minimum depth: 628.795761 meters looking forward 0.000000 meters along route # Maximum depth: 628.795761 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.795761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003998; longitude = -119.133612; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 588.749551; finalDepth = 588.795761; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.795761 # Seafloor depth:-628.795761 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 56.463859 meters # Minimum depth: 628.749551 meters looking forward 0.000000 meters along route # Maximum depth: 628.749551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.749551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003849; longitude = -119.133685; captureRadius = 10; duration = 56; initialDepth = 588.751292; finalDepth = 588.749551; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.749551 # Seafloor depth:-628.749551 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 56.463859 meters # Minimum depth: 628.751292 meters looking forward 0.000000 meters along route # Maximum depth: 628.751292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.751292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003397; longitude = -119.133904; captureRadius = 10; duration = 56; initialDepth = 590.132604; finalDepth = 588.751292; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.751292 # Seafloor depth:-628.751292 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 56.463859 meters # Minimum depth: 630.132604 meters looking forward 0.000000 meters along route # Maximum depth: 630.132604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.132604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002956; longitude = -119.134118; captureRadius = 10; duration = 56; initialDepth = 590.752235; finalDepth = 590.132604; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.132604 # Seafloor depth:-630.132604 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 56.463859 meters # Minimum depth: 630.752235 meters looking forward 0.000000 meters along route # Maximum depth: 630.752235 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.752235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002496; longitude = -119.134342; captureRadius = 10; duration = 56; initialDepth = 591.932898; finalDepth = 590.752235; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.752235 # Seafloor depth:-630.752235 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 56.463859 meters # Minimum depth: 631.932898 meters looking forward 0.000000 meters along route # Maximum depth: 631.932898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.932898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002064; longitude = -119.134552; captureRadius = 10; duration = 56; initialDepth = 593.648217; finalDepth = 591.932898; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.932898 # Seafloor depth:-631.932898 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 56.463859 meters # Minimum depth: 633.648217 meters looking forward 0.000000 meters along route # Maximum depth: 633.648217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.648217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001594; longitude = -119.134780; captureRadius = 10; duration = 56; initialDepth = 593.459282; finalDepth = 593.648217; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.648217 # Seafloor depth:-633.648217 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 56.463859 meters # Minimum depth: 633.459282 meters looking forward 0.000000 meters along route # Maximum depth: 633.459282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.459282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001171; longitude = -119.134985; captureRadius = 10; duration = 56; initialDepth = 594.681290; finalDepth = 593.459282; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.459282 # Seafloor depth:-633.459282 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 56.463859 meters # Minimum depth: 634.681290 meters looking forward 0.000000 meters along route # Maximum depth: 634.681290 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.681290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000725; longitude = -119.135202; captureRadius = 10; duration = 56; initialDepth = 595.821232; finalDepth = 594.681290; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.68129 # Seafloor depth:-634.681290 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 56.463859 meters # Minimum depth: 635.821232 meters looking forward 0.000000 meters along route # Maximum depth: 635.821232 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.821232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000279; longitude = -119.135419; captureRadius = 10; duration = 56; initialDepth = 597.890978; finalDepth = 595.821232; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:595.821232 # Seafloor depth:-635.821232 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 56.463859 meters # Minimum depth: 637.890978 meters looking forward 0.000000 meters along route # Maximum depth: 637.890978 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 597.890978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999833; longitude = -119.135636; captureRadius = 10; duration = 56; initialDepth = 599.299812; finalDepth = 597.890978; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:597.890978 # Seafloor depth:-637.890978 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 56.463859 meters # Minimum depth: 639.299812 meters looking forward 0.000000 meters along route # Maximum depth: 639.299812 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 599.299812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999387; longitude = -119.135853; captureRadius = 10; duration = 56; initialDepth = 601.032197; finalDepth = 599.299812; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:599.299812 # Seafloor depth:-639.299812 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 56.463859 meters # Minimum depth: 641.032197 meters looking forward 0.000000 meters along route # Maximum depth: 641.032197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 601.032197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998940; longitude = -119.136069; captureRadius = 10; duration = 56; initialDepth = 601.878987; finalDepth = 601.032197; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:601.032197 # Seafloor depth:-641.032197 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 56.463859 meters # Minimum depth: 641.878987 meters looking forward 0.000000 meters along route # Maximum depth: 641.878987 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 601.878987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998494; longitude = -119.136286; captureRadius = 10; duration = 56; initialDepth = 603.362396; finalDepth = 601.878987; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:601.878987 # Seafloor depth:-641.878987 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 56.463859 meters # Minimum depth: 643.362396 meters looking forward 0.000000 meters along route # Maximum depth: 643.362396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.362396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998048; longitude = -119.136503; captureRadius = 10; duration = 56; initialDepth = 604.570785; finalDepth = 603.362396; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:603.362396 # Seafloor depth:-643.362396 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 56.463859 meters # Minimum depth: 644.570785 meters looking forward 0.000000 meters along route # Maximum depth: 644.570785 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 604.570785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997602; longitude = -119.136720; captureRadius = 10; duration = 56; initialDepth = 605.153980; finalDepth = 604.570785; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:604.570785 # Seafloor depth:-644.570785 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 56.463859 meters # Minimum depth: 645.153980 meters looking forward 0.000000 meters along route # Maximum depth: 645.153980 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.153980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997155; longitude = -119.136937; captureRadius = 10; duration = 56; initialDepth = 605.501946; finalDepth = 605.153980; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:605.15398 # Seafloor depth:-645.153980 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 56.463859 meters # Minimum depth: 645.501946 meters looking forward 0.000000 meters along route # Maximum depth: 645.501946 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.501946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996709; longitude = -119.137153; captureRadius = 10; duration = 56; initialDepth = 605.730319; finalDepth = 605.501946; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:605.501946 # Seafloor depth:-645.501946 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 56.463859 meters # Minimum depth: 645.730319 meters looking forward 0.000000 meters along route # Maximum depth: 645.730319 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.730319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996184; longitude = -119.137409; captureRadius = 10; duration = 56; initialDepth = 610.605999; finalDepth = 605.730319; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:605.730319 # Seafloor depth:-645.730319 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 56.463859 meters # Minimum depth: 650.605999 meters looking forward 0.000000 meters along route # Maximum depth: 650.605999 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.605999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995643; longitude = -119.137672; captureRadius = 10; duration = 56; initialDepth = 614.708237; finalDepth = 610.605999; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:610.605999 # Seafloor depth:-650.605999 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 84 # Segment length 56.463859 meters # Minimum depth: 654.708237 meters looking forward 0.000000 meters along route # Maximum depth: 654.708237 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 614.708237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995222; longitude = -119.137876; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 617.441004; finalDepth = 614.708237; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:614.708237 # Seafloor depth:-654.708237 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 657.441004 meters looking forward 0.000000 meters along route # Maximum depth: 657.441004 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 617.441004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994741; longitude = -119.137822; captureRadius = 10; duration = 56; initialDepth = 619.645608; finalDepth = 617.441004; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:617.441004 # Seafloor depth:-657.441004 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 659.645608 meters looking forward 0.000000 meters along route # Maximum depth: 659.645608 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.645608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994200; longitude = -119.137762; captureRadius = 10; duration = 56; initialDepth = 622.131338; finalDepth = 619.645608; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.645608 # Seafloor depth:-659.645608 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 662.131338 meters looking forward 0.000000 meters along route # Maximum depth: 662.131338 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.131338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.993659; longitude = -119.137701; captureRadius = 10; duration = 56; initialDepth = 624.831292; finalDepth = 622.131338; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:622.131338 # Seafloor depth:-662.131338 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 664.831292 meters looking forward 0.000000 meters along route # Maximum depth: 664.831292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.831292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.993118; longitude = -119.137641; captureRadius = 10; duration = 56; initialDepth = 626.291167; finalDepth = 624.831292; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:624.831292 # Seafloor depth:-664.831292 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 666.291167 meters looking forward 0.000000 meters along route # Maximum depth: 666.291167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 626.291167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.992577; longitude = -119.137580; captureRadius = 10; duration = 56; initialDepth = 627.837164; finalDepth = 626.291167; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:626.291167 # Seafloor depth:-666.291167 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 667.837164 meters looking forward 0.000000 meters along route # Maximum depth: 667.837164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 627.837164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.992036; longitude = -119.137519; captureRadius = 10; duration = 56; initialDepth = 629.929687; finalDepth = 627.837164; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:627.837164 # Seafloor depth:-667.837164 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 669.929687 meters looking forward 0.000000 meters along route # Maximum depth: 669.929687 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 629.929687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.991495; longitude = -119.137459; captureRadius = 10; duration = 56; initialDepth = 631.801921; finalDepth = 629.929687; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:629.929687 # Seafloor depth:-669.929687 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 671.801921 meters looking forward 0.000000 meters along route # Maximum depth: 671.801921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 631.801921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.990954; longitude = -119.137398; captureRadius = 10; duration = 56; initialDepth = 634.049923; finalDepth = 631.801921; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:631.801921 # Seafloor depth:-671.801921 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 674.049923 meters looking forward 0.000000 meters along route # Maximum depth: 674.049923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.049923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.990413; longitude = -119.137338; captureRadius = 10; duration = 56; initialDepth = 635.336782; finalDepth = 634.049923; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:634.049923 # Seafloor depth:-674.049923 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 675.336782 meters looking forward 0.000000 meters along route # Maximum depth: 675.336782 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.336782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.989871; longitude = -119.137277; captureRadius = 10; duration = 56; initialDepth = 637.263063; finalDepth = 635.336782; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:635.336782 # Seafloor depth:-675.336782 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 677.263063 meters looking forward 0.000000 meters along route # Maximum depth: 677.263063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 637.263063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.989330; longitude = -119.137217; captureRadius = 10; duration = 56; initialDepth = 639.005573; finalDepth = 637.263063; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:637.263063 # Seafloor depth:-677.263063 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 679.005573 meters looking forward 0.000000 meters along route # Maximum depth: 679.005573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 639.005573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.988764; longitude = -119.137153; captureRadius = 10; duration = 56; initialDepth = 640.268312; finalDepth = 639.005573; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:639.005573 # Seafloor depth:-679.005573 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 680.268312 meters looking forward 0.000000 meters along route # Maximum depth: 680.268312 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 640.268312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.988248; longitude = -119.137096; captureRadius = 10; duration = 56; initialDepth = 641.622095; finalDepth = 640.268312; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:640.268312 # Seafloor depth:-680.268312 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 681.622095 meters looking forward 0.000000 meters along route # Maximum depth: 681.622095 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.622095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.987707; longitude = -119.137035; captureRadius = 10; duration = 56; initialDepth = 643.558256; finalDepth = 641.622095; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:641.622095 # Seafloor depth:-681.622095 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 683.558256 meters looking forward 0.000000 meters along route # Maximum depth: 683.558256 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 643.558256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.987166; longitude = -119.136975; captureRadius = 10; duration = 56; initialDepth = 645.896253; finalDepth = 643.558256; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:643.558256 # Seafloor depth:-683.558256 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 685.896253 meters looking forward 0.000000 meters along route # Maximum depth: 685.896253 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 645.896253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.986625; longitude = -119.136914; captureRadius = 10; duration = 56; initialDepth = 647.628877; finalDepth = 645.896253; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:645.896253 # Seafloor depth:-685.896253 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 687.628877 meters looking forward 0.000000 meters along route # Maximum depth: 687.628877 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 647.628877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.986084; longitude = -119.136854; captureRadius = 10; duration = 56; initialDepth = 649.401641; finalDepth = 647.628877; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:647.628877 # Seafloor depth:-687.628877 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 689.401641 meters looking forward 0.000000 meters along route # Maximum depth: 689.401641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.401641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.985543; longitude = -119.136793; captureRadius = 10; duration = 56; initialDepth = 650.428196; finalDepth = 649.401641; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:649.401641 # Seafloor depth:-689.401641 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 690.428196 meters looking forward 0.000000 meters along route # Maximum depth: 690.428196 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 650.428196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.985002; longitude = -119.136733; captureRadius = 10; duration = 56; initialDepth = 652.280328; finalDepth = 650.428196; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:650.428196 # Seafloor depth:-690.428196 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 692.280328 meters looking forward 0.000000 meters along route # Maximum depth: 692.280328 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 652.280328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.984461; longitude = -119.136672; captureRadius = 10; duration = 56; initialDepth = 653.204247; finalDepth = 652.280328; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:652.280328 # Seafloor depth:-692.280328 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 693.204247 meters looking forward 0.000000 meters along route # Maximum depth: 693.204247 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.204247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.983920; longitude = -119.136611; captureRadius = 10; duration = 56; initialDepth = 654.783943; finalDepth = 653.204247; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:653.204247 # Seafloor depth:-693.204247 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 694.783943 meters looking forward 0.000000 meters along route # Maximum depth: 694.783943 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 654.783943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.983379; longitude = -119.136551; captureRadius = 10; duration = 56; initialDepth = 656.995071; finalDepth = 654.783943; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:654.783943 # Seafloor depth:-694.783943 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 696.995071 meters looking forward 0.000000 meters along route # Maximum depth: 696.995071 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 656.995071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.982838; longitude = -119.136490; captureRadius = 10; duration = 56; initialDepth = 658.420470; finalDepth = 656.995071; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:656.995071 # Seafloor depth:-696.995071 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 698.420470 meters looking forward 0.000000 meters along route # Maximum depth: 698.420470 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 658.420470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.982297; longitude = -119.136430; captureRadius = 10; duration = 56; initialDepth = 660.226150; finalDepth = 658.420470; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:658.42047 # Seafloor depth:-698.420470 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 700.226150 meters looking forward 0.000000 meters along route # Maximum depth: 700.226150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 660.226150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.981756; longitude = -119.136369; captureRadius = 10; duration = 56; initialDepth = 661.555695; finalDepth = 660.226150; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:660.22615 # Seafloor depth:-700.226150 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 701.555695 meters looking forward 0.000000 meters along route # Maximum depth: 701.555695 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 661.555695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.981215; longitude = -119.136309; captureRadius = 10; duration = 56; initialDepth = 662.022831; finalDepth = 661.555695; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:661.555695 # Seafloor depth:-701.555695 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 702.022831 meters looking forward 0.000000 meters along route # Maximum depth: 702.022831 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 662.022831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.980674; longitude = -119.136248; captureRadius = 10; duration = 56; initialDepth = 663.116070; finalDepth = 662.022831; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:662.022831 # Seafloor depth:-702.022831 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 703.116070 meters looking forward 0.000000 meters along route # Maximum depth: 703.116070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 663.116070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.980133; longitude = -119.136188; captureRadius = 10; duration = 56; initialDepth = 664.379438; finalDepth = 663.116070; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:663.11607 # Seafloor depth:-703.116070 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 704.379438 meters looking forward 0.000000 meters along route # Maximum depth: 704.379438 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 664.379438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.979592; longitude = -119.136127; captureRadius = 10; duration = 56; initialDepth = 665.462893; finalDepth = 664.379438; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:664.379438 # Seafloor depth:-704.379438 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 705.462893 meters looking forward 0.000000 meters along route # Maximum depth: 705.462893 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.462893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.979051; longitude = -119.136067; captureRadius = 10; duration = 56; initialDepth = 665.774115; finalDepth = 665.462893; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:665.462893 # Seafloor depth:-705.462893 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 705.774115 meters looking forward 0.000000 meters along route # Maximum depth: 705.774115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.774115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.978510; longitude = -119.136006; captureRadius = 10; duration = 56; initialDepth = 667.157964; finalDepth = 665.774115; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:665.774115 # Seafloor depth:-705.774115 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 707.157964 meters looking forward 0.000000 meters along route # Maximum depth: 707.157964 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 667.157964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977969; longitude = -119.135946; captureRadius = 10; duration = 56; initialDepth = 668.594511; finalDepth = 667.157964; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:667.157964 # Seafloor depth:-707.157964 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 708.594511 meters looking forward 0.000000 meters along route # Maximum depth: 708.594511 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 668.594511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977428; longitude = -119.135885; captureRadius = 10; duration = 56; initialDepth = 669.475361; finalDepth = 668.594511; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:668.594511 # Seafloor depth:-708.594511 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 709.475361 meters looking forward 0.000000 meters along route # Maximum depth: 709.475361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 669.475361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976887; longitude = -119.135825; captureRadius = 10; duration = 56; initialDepth = 670.819246; finalDepth = 669.475361; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:669.475361 # Seafloor depth:-709.475361 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 710.819246 meters looking forward 0.000000 meters along route # Maximum depth: 710.819246 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 670.819246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976346; longitude = -119.135764; captureRadius = 10; duration = 56; initialDepth = 671.472647; finalDepth = 670.819246; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:670.819246 # Seafloor depth:-710.819246 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 711.472647 meters looking forward 0.000000 meters along route # Maximum depth: 711.472647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.472647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975805; longitude = -119.135703; captureRadius = 10; duration = 56; initialDepth = 672.548945; finalDepth = 671.472647; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:671.472647 # Seafloor depth:-711.472647 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 712.548945 meters looking forward 0.000000 meters along route # Maximum depth: 712.548945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.548945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975200; longitude = -119.135636; captureRadius = 10; duration = 56; initialDepth = 673.626604; finalDepth = 672.548945; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:672.548945 # Seafloor depth:-712.548945 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 713.626604 meters looking forward 0.000000 meters along route # Maximum depth: 713.626604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.626604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974723; longitude = -119.135582; captureRadius = 10; duration = 56; initialDepth = 674.203457; finalDepth = 673.626604; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:673.626604 # Seafloor depth:-713.626604 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 714.203457 meters looking forward 0.000000 meters along route # Maximum depth: 714.203457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.203457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974182; longitude = -119.135522; captureRadius = 10; duration = 56; initialDepth = 675.790349; finalDepth = 674.203457; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:674.203457 # Seafloor depth:-714.203457 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 715.790349 meters looking forward 0.000000 meters along route # Maximum depth: 715.790349 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.790349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.973640; longitude = -119.135461; captureRadius = 10; duration = 56; initialDepth = 676.798784; finalDepth = 675.790349; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:675.790349 # Seafloor depth:-715.790349 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 56.463859 meters # Minimum depth: 716.798784 meters looking forward 0.000000 meters along route # Maximum depth: 716.798784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.798784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.973099; longitude = -119.135401; captureRadius = 10; duration = 56; initialDepth = 677.792343; finalDepth = 676.798784; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:676.798784 # Seafloor depth:-716.798784 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 83 # Segment length 56.463859 meters # Minimum depth: 717.792343 meters looking forward 0.000000 meters along route # Maximum depth: 717.792343 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 677.792343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.972619; longitude = -119.135347; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 677.725629; finalDepth = 677.792343; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:677.792343 # Seafloor depth:-717.792343 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 717.725629 meters looking forward 0.000000 meters along route # Maximum depth: 717.725629 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 677.725629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.972659; longitude = -119.135202; captureRadius = 10; duration = 56; initialDepth = 677.891882; finalDepth = 677.725629; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:677.725629 # Seafloor depth:-717.725629 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 717.891882 meters looking forward 0.000000 meters along route # Maximum depth: 717.891882 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 677.891882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.972837; longitude = -119.134552; captureRadius = 10; duration = 56; initialDepth = 678.133806; finalDepth = 677.891882; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:677.891882 # Seafloor depth:-717.891882 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 718.133806 meters looking forward 0.000000 meters along route # Maximum depth: 718.133806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.133806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.973015; longitude = -119.133901; captureRadius = 10; duration = 56; initialDepth = 678.437748; finalDepth = 678.133806; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:678.133806 # Seafloor depth:-718.133806 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 718.437748 meters looking forward 0.000000 meters along route # Maximum depth: 718.437748 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.437748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.973193; longitude = -119.133251; captureRadius = 10; duration = 56; initialDepth = 678.792214; finalDepth = 678.437748; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:678.437748 # Seafloor depth:-718.437748 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 718.792214 meters looking forward 0.000000 meters along route # Maximum depth: 718.792214 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.792214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.973372; longitude = -119.132601; captureRadius = 10; duration = 56; initialDepth = 678.615414; finalDepth = 678.792214; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:678.792214 # Seafloor depth:-718.792214 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 718.615414 meters looking forward 0.000000 meters along route # Maximum depth: 718.615414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.615414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.973550; longitude = -119.131950; captureRadius = 10; duration = 56; initialDepth = 678.349240; finalDepth = 678.615414; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:678.615414 # Seafloor depth:-718.615414 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 718.349240 meters looking forward 0.000000 meters along route # Maximum depth: 718.349240 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.349240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.973728; longitude = -119.131300; captureRadius = 10; duration = 56; initialDepth = 678.243228; finalDepth = 678.349240; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:678.34924 # Seafloor depth:-718.349240 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 718.243228 meters looking forward 0.000000 meters along route # Maximum depth: 718.243228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.243228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.973906; longitude = -119.130649; captureRadius = 10; duration = 56; initialDepth = 676.055223; finalDepth = 678.243228; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:678.243228 # Seafloor depth:-718.243228 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 716.055223 meters looking forward 0.000000 meters along route # Maximum depth: 716.055223 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.055223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974084; longitude = -119.129999; captureRadius = 10; duration = 56; initialDepth = 673.579856; finalDepth = 676.055223; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:676.055223 # Seafloor depth:-716.055223 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 713.579856 meters looking forward 0.000000 meters along route # Maximum depth: 713.579856 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.579856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974263; longitude = -119.129349; captureRadius = 10; duration = 56; initialDepth = 671.031997; finalDepth = 673.579856; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:673.579856 # Seafloor depth:-713.579856 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 711.031997 meters looking forward 0.000000 meters along route # Maximum depth: 711.031997 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.031997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974441; longitude = -119.128698; captureRadius = 10; duration = 56; initialDepth = 670.101666; finalDepth = 671.031997; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:671.031997 # Seafloor depth:-711.031997 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 710.101666 meters looking forward 0.000000 meters along route # Maximum depth: 710.101666 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 670.101666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974619; longitude = -119.128048; captureRadius = 10; duration = 56; initialDepth = 669.532224; finalDepth = 670.101666; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:670.101666 # Seafloor depth:-710.101666 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 709.532224 meters looking forward 0.000000 meters along route # Maximum depth: 709.532224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 669.532224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974797; longitude = -119.127397; captureRadius = 10; duration = 56; initialDepth = 667.797748; finalDepth = 669.532224; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:669.532224 # Seafloor depth:-709.532224 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 707.797748 meters looking forward 0.000000 meters along route # Maximum depth: 707.797748 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 667.797748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974975; longitude = -119.126747; captureRadius = 10; duration = 56; initialDepth = 666.728405; finalDepth = 667.797748; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:667.797748 # Seafloor depth:-707.797748 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 706.728405 meters looking forward 0.000000 meters along route # Maximum depth: 706.728405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 666.728405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975154; longitude = -119.126097; captureRadius = 10; duration = 56; initialDepth = 665.444142; finalDepth = 666.728405; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:666.728405 # Seafloor depth:-706.728405 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 705.444142 meters looking forward 0.000000 meters along route # Maximum depth: 705.444142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.444142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975332; longitude = -119.125446; captureRadius = 10; duration = 56; initialDepth = 664.530420; finalDepth = 665.444142; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:665.444142 # Seafloor depth:-705.444142 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 704.530420 meters looking forward 0.000000 meters along route # Maximum depth: 704.530420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 664.530420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975510; longitude = -119.124796; captureRadius = 10; duration = 56; initialDepth = 663.810106; finalDepth = 664.530420; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:664.53042 # Seafloor depth:-704.530420 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 703.810106 meters looking forward 0.000000 meters along route # Maximum depth: 703.810106 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 663.810106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975688; longitude = -119.124145; captureRadius = 10; duration = 56; initialDepth = 664.276261; finalDepth = 663.810106; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:663.810106 # Seafloor depth:-703.810106 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 704.276261 meters looking forward 0.000000 meters along route # Maximum depth: 704.276261 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 664.276261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975866; longitude = -119.123495; captureRadius = 10; duration = 56; initialDepth = 664.526381; finalDepth = 664.276261; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:664.276261 # Seafloor depth:-704.276261 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 704.526381 meters looking forward 0.000000 meters along route # Maximum depth: 704.526381 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 664.526381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976045; longitude = -119.122845; captureRadius = 10; duration = 56; initialDepth = 665.556831; finalDepth = 664.526381; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:664.526381 # Seafloor depth:-704.526381 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 705.556831 meters looking forward 0.000000 meters along route # Maximum depth: 705.556831 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.556831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976223; longitude = -119.122194; captureRadius = 10; duration = 56; initialDepth = 665.056254; finalDepth = 665.556831; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:665.556831 # Seafloor depth:-705.556831 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 705.056254 meters looking forward 0.000000 meters along route # Maximum depth: 705.056254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.056254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976401; longitude = -119.121544; captureRadius = 10; duration = 56; initialDepth = 666.011622; finalDepth = 665.056254; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:665.056254 # Seafloor depth:-705.056254 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 706.011622 meters looking forward 0.000000 meters along route # Maximum depth: 706.011622 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 666.011622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976579; longitude = -119.120893; captureRadius = 10; duration = 56; initialDepth = 665.930900; finalDepth = 666.011622; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:666.011622 # Seafloor depth:-706.011622 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 705.930900 meters looking forward 0.000000 meters along route # Maximum depth: 705.930900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.930900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976757; longitude = -119.120243; captureRadius = 10; duration = 56; initialDepth = 666.430906; finalDepth = 665.930900; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:665.9309 # Seafloor depth:-705.930900 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 706.430906 meters looking forward 0.000000 meters along route # Maximum depth: 706.430906 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 666.430906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976936; longitude = -119.119593; captureRadius = 10; duration = 56; initialDepth = 666.866079; finalDepth = 666.430906; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:666.430906 # Seafloor depth:-706.430906 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 706.866079 meters looking forward 0.000000 meters along route # Maximum depth: 706.866079 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 666.866079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977114; longitude = -119.118942; captureRadius = 10; duration = 56; initialDepth = 666.554419; finalDepth = 666.866079; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:666.866079 # Seafloor depth:-706.866079 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 706.554419 meters looking forward 0.000000 meters along route # Maximum depth: 706.554419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 666.554419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977292; longitude = -119.118292; captureRadius = 10; duration = 56; initialDepth = 665.213596; finalDepth = 666.554419; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:666.554419 # Seafloor depth:-706.554419 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 705.213596 meters looking forward 0.000000 meters along route # Maximum depth: 705.213596 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.213596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977470; longitude = -119.117641; captureRadius = 10; duration = 56; initialDepth = 663.332473; finalDepth = 665.213596; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:665.213596 # Seafloor depth:-705.213596 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 703.332473 meters looking forward 0.000000 meters along route # Maximum depth: 703.332473 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 663.332473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977649; longitude = -119.116991; captureRadius = 10; duration = 56; initialDepth = 661.470638; finalDepth = 663.332473; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:663.332473 # Seafloor depth:-703.332473 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 701.470638 meters looking forward 0.000000 meters along route # Maximum depth: 701.470638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 661.470638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977827; longitude = -119.116341; captureRadius = 10; duration = 56; initialDepth = 659.611288; finalDepth = 661.470638; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:661.470638 # Seafloor depth:-701.470638 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 699.611288 meters looking forward 0.000000 meters along route # Maximum depth: 699.611288 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 659.611288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.978005; longitude = -119.115690; captureRadius = 10; duration = 56; initialDepth = 658.933890; finalDepth = 659.611288; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:659.611288 # Seafloor depth:-699.611288 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 698.933890 meters looking forward 0.000000 meters along route # Maximum depth: 698.933890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 658.933890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.978183; longitude = -119.115040; captureRadius = 10; duration = 56; initialDepth = 659.305508; finalDepth = 658.933890; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:658.93389 # Seafloor depth:-698.933890 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 699.305508 meters looking forward 0.000000 meters along route # Maximum depth: 699.305508 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 659.305508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.978361; longitude = -119.114389; captureRadius = 10; duration = 56; initialDepth = 658.170906; finalDepth = 659.305508; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:659.305508 # Seafloor depth:-699.305508 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 698.170906 meters looking forward 0.000000 meters along route # Maximum depth: 698.170906 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 658.170906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.978540; longitude = -119.113739; captureRadius = 10; duration = 56; initialDepth = 656.861340; finalDepth = 658.170906; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:658.170906 # Seafloor depth:-698.170906 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 696.861340 meters looking forward 0.000000 meters along route # Maximum depth: 696.861340 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 656.861340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.978718; longitude = -119.113089; captureRadius = 10; duration = 56; initialDepth = 655.842144; finalDepth = 656.861340; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:656.86134 # Seafloor depth:-696.861340 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 695.842144 meters looking forward 0.000000 meters along route # Maximum depth: 695.842144 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 655.842144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.978896; longitude = -119.112438; captureRadius = 10; duration = 56; initialDepth = 654.995101; finalDepth = 655.842144; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:655.842144 # Seafloor depth:-695.842144 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 694.995101 meters looking forward 0.000000 meters along route # Maximum depth: 694.995101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 654.995101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.979051; longitude = -119.111873; captureRadius = 10; duration = 56; initialDepth = 655.027933; finalDepth = 654.995101; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:654.995101 # Seafloor depth:-694.995101 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 56.463859 meters # Minimum depth: 695.027933 meters looking forward 0.000000 meters along route # Maximum depth: 695.027933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 655.027933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.979193; longitude = -119.111354; captureRadius = 10; duration = 56; initialDepth = 654.547201; finalDepth = 655.027933; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:655.027933 # Seafloor depth:-695.027933 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 82 # Segment length 56.463859 meters # Minimum depth: 694.547201 meters looking forward 0.000000 meters along route # Maximum depth: 694.547201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 654.547201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.979351; longitude = -119.110776; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 655.668643; finalDepth = 654.547201; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:654.547201 # Seafloor depth:-694.547201 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 695.668643 meters looking forward 0.000000 meters along route # Maximum depth: 695.668643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 655.668643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.979298; longitude = -119.110487; captureRadius = 10; duration = 56; initialDepth = 656.573603; finalDepth = 655.668643; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:655.668643 # Seafloor depth:-695.668643 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 696.573603 meters looking forward 0.000000 meters along route # Maximum depth: 696.573603 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 656.573603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.979177; longitude = -119.109837; captureRadius = 10; duration = 56; initialDepth = 658.258261; finalDepth = 656.573603; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:656.573603 # Seafloor depth:-696.573603 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 698.258261 meters looking forward 0.000000 meters along route # Maximum depth: 698.258261 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 658.258261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.979051; longitude = -119.109154; captureRadius = 10; duration = 56; initialDepth = 660.195588; finalDepth = 658.258261; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:658.258261 # Seafloor depth:-698.258261 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 700.195588 meters looking forward 0.000000 meters along route # Maximum depth: 700.195588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 660.195588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.978936; longitude = -119.108536; captureRadius = 10; duration = 56; initialDepth = 661.593809; finalDepth = 660.195588; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:660.195588 # Seafloor depth:-700.195588 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 701.593809 meters looking forward 0.000000 meters along route # Maximum depth: 701.593809 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 661.593809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.978816; longitude = -119.107885; captureRadius = 10; duration = 56; initialDepth = 663.567812; finalDepth = 661.593809; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:661.593809 # Seafloor depth:-701.593809 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 703.567812 meters looking forward 0.000000 meters along route # Maximum depth: 703.567812 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 663.567812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.978690; longitude = -119.107207; captureRadius = 10; duration = 56; initialDepth = 663.981278; finalDepth = 663.567812; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:663.567812 # Seafloor depth:-703.567812 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 703.981278 meters looking forward 0.000000 meters along route # Maximum depth: 703.981278 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 663.981278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.978575; longitude = -119.106585; captureRadius = 10; duration = 56; initialDepth = 664.444229; finalDepth = 663.981278; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:663.981278 # Seafloor depth:-703.981278 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 704.444229 meters looking forward 0.000000 meters along route # Maximum depth: 704.444229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 664.444229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.978454; longitude = -119.105934; captureRadius = 10; duration = 56; initialDepth = 665.045190; finalDepth = 664.444229; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:664.444229 # Seafloor depth:-704.444229 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 705.045190 meters looking forward 0.000000 meters along route # Maximum depth: 705.045190 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.045190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.978329; longitude = -119.105261; captureRadius = 10; duration = 56; initialDepth = 665.881113; finalDepth = 665.045190; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:665.04519 # Seafloor depth:-705.045190 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 705.881113 meters looking forward 0.000000 meters along route # Maximum depth: 705.881113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.881113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.978213; longitude = -119.104633; captureRadius = 10; duration = 56; initialDepth = 667.573514; finalDepth = 665.881113; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:665.881113 # Seafloor depth:-705.881113 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 707.573514 meters looking forward 0.000000 meters along route # Maximum depth: 707.573514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 667.573514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.978093; longitude = -119.103983; captureRadius = 10; duration = 56; initialDepth = 667.813051; finalDepth = 667.573514; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:667.573514 # Seafloor depth:-707.573514 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 707.813051 meters looking forward 0.000000 meters along route # Maximum depth: 707.813051 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 667.813051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977969; longitude = -119.103314; captureRadius = 10; duration = 56; initialDepth = 669.483923; finalDepth = 667.813051; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:667.813051 # Seafloor depth:-707.813051 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 709.483923 meters looking forward 0.000000 meters along route # Maximum depth: 709.483923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 669.483923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977852; longitude = -119.102682; captureRadius = 10; duration = 56; initialDepth = 667.276498; finalDepth = 669.483923; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:669.483923 # Seafloor depth:-709.483923 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 707.276498 meters looking forward 0.000000 meters along route # Maximum depth: 707.276498 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 667.276498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977731; longitude = -119.102032; captureRadius = 10; duration = 56; initialDepth = 671.034803; finalDepth = 667.276498; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:667.276498 # Seafloor depth:-707.276498 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 711.034803 meters looking forward 0.000000 meters along route # Maximum depth: 711.034803 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.034803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977608; longitude = -119.101368; captureRadius = 10; duration = 56; initialDepth = 668.945829; finalDepth = 671.034803; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:671.034803 # Seafloor depth:-711.034803 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 708.945829 meters looking forward 0.000000 meters along route # Maximum depth: 708.945829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 668.945829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977490; longitude = -119.100731; captureRadius = 10; duration = 56; initialDepth = 671.790914; finalDepth = 668.945829; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:668.945829 # Seafloor depth:-708.945829 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 711.790914 meters looking forward 0.000000 meters along route # Maximum depth: 711.790914 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.790914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977370; longitude = -119.100081; captureRadius = 10; duration = 56; initialDepth = 673.492137; finalDepth = 671.790914; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:671.790914 # Seafloor depth:-711.790914 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 713.492137 meters looking forward 0.000000 meters along route # Maximum depth: 713.492137 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.492137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977247; longitude = -119.099421; captureRadius = 10; duration = 56; initialDepth = 674.920360; finalDepth = 673.492137; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:673.492137 # Seafloor depth:-713.492137 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 714.920360 meters looking forward 0.000000 meters along route # Maximum depth: 714.920360 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.920360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977129; longitude = -119.098780; captureRadius = 10; duration = 56; initialDepth = 676.245006; finalDepth = 674.920360; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:674.92036 # Seafloor depth:-714.920360 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 716.245006 meters looking forward 0.000000 meters along route # Maximum depth: 716.245006 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.245006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977008; longitude = -119.098129; captureRadius = 10; duration = 56; initialDepth = 677.700990; finalDepth = 676.245006; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:676.245006 # Seafloor depth:-716.245006 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 717.700990 meters looking forward 0.000000 meters along route # Maximum depth: 717.700990 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 677.700990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976887; longitude = -119.097475; captureRadius = 10; duration = 56; initialDepth = 680.189069; finalDepth = 677.700990; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:677.70099 # Seafloor depth:-717.700990 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 720.189069 meters looking forward 0.000000 meters along route # Maximum depth: 720.189069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.189069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976767; longitude = -119.096829; captureRadius = 10; duration = 56; initialDepth = 684.227398; finalDepth = 680.189069; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:680.189069 # Seafloor depth:-720.189069 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 724.227398 meters looking forward 0.000000 meters along route # Maximum depth: 724.227398 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.227398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976646; longitude = -119.096178; captureRadius = 10; duration = 56; initialDepth = 688.912686; finalDepth = 684.227398; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:684.227398 # Seafloor depth:-724.227398 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 728.912686 meters looking forward 0.000000 meters along route # Maximum depth: 728.912686 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.912686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976526; longitude = -119.095528; captureRadius = 10; duration = 56; initialDepth = 689.456387; finalDepth = 688.912686; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.912686 # Seafloor depth:-728.912686 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 729.456387 meters looking forward 0.000000 meters along route # Maximum depth: 729.456387 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.456387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976405; longitude = -119.094877; captureRadius = 10; duration = 56; initialDepth = 690.902108; finalDepth = 689.456387; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:689.456387 # Seafloor depth:-729.456387 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 730.902108 meters looking forward 0.000000 meters along route # Maximum depth: 730.902108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.902108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976285; longitude = -119.094227; captureRadius = 10; duration = 56; initialDepth = 691.374204; finalDepth = 690.902108; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:690.902108 # Seafloor depth:-730.902108 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 731.374204 meters looking forward 0.000000 meters along route # Maximum depth: 731.374204 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.374204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976164; longitude = -119.093577; captureRadius = 10; duration = 56; initialDepth = 692.597153; finalDepth = 691.374204; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:691.374204 # Seafloor depth:-731.374204 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 732.597153 meters looking forward 0.000000 meters along route # Maximum depth: 732.597153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.597153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976044; longitude = -119.092926; captureRadius = 10; duration = 56; initialDepth = 692.918218; finalDepth = 692.597153; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:692.597153 # Seafloor depth:-732.597153 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 732.918218 meters looking forward 0.000000 meters along route # Maximum depth: 732.918218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.918218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975923; longitude = -119.092276; captureRadius = 10; duration = 56; initialDepth = 693.681338; finalDepth = 692.918218; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:692.918218 # Seafloor depth:-732.918218 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 733.681338 meters looking forward 0.000000 meters along route # Maximum depth: 733.681338 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.681338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975803; longitude = -119.091625; captureRadius = 10; duration = 56; initialDepth = 695.118686; finalDepth = 693.681338; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:693.681338 # Seafloor depth:-733.681338 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 735.118686 meters looking forward 0.000000 meters along route # Maximum depth: 735.118686 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.118686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975682; longitude = -119.090975; captureRadius = 10; duration = 56; initialDepth = 695.975452; finalDepth = 695.118686; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:695.118686 # Seafloor depth:-735.118686 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 735.975452 meters looking forward 0.000000 meters along route # Maximum depth: 735.975452 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.975452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975562; longitude = -119.090325; captureRadius = 10; duration = 56; initialDepth = 698.446698; finalDepth = 695.975452; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:695.975452 # Seafloor depth:-735.975452 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 738.446698 meters looking forward 0.000000 meters along route # Maximum depth: 738.446698 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.446698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975441; longitude = -119.089674; captureRadius = 10; duration = 56; initialDepth = 700.137378; finalDepth = 698.446698; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.446698 # Seafloor depth:-738.446698 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 740.137378 meters looking forward 0.000000 meters along route # Maximum depth: 740.137378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.137378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975321; longitude = -119.089024; captureRadius = 10; duration = 56; initialDepth = 702.695160; finalDepth = 700.137378; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:700.137378 # Seafloor depth:-740.137378 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 742.695160 meters looking forward 0.000000 meters along route # Maximum depth: 742.695160 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.695160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975200; longitude = -119.088374; captureRadius = 10; duration = 56; initialDepth = 707.081791; finalDepth = 702.695160; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:702.69516 # Seafloor depth:-742.695160 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 747.081791 meters looking forward 0.000000 meters along route # Maximum depth: 747.081791 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.081791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975080; longitude = -119.087723; captureRadius = 10; duration = 56; initialDepth = 710.209825; finalDepth = 707.081791; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:707.081791 # Seafloor depth:-747.081791 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 750.209825 meters looking forward 0.000000 meters along route # Maximum depth: 750.209825 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.209825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974959; longitude = -119.087073; captureRadius = 10; duration = 56; initialDepth = 709.913744; finalDepth = 710.209825; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.209825 # Seafloor depth:-750.209825 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 749.913744 meters looking forward 0.000000 meters along route # Maximum depth: 749.913744 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.913744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974839; longitude = -119.086422; captureRadius = 10; duration = 56; initialDepth = 707.291738; finalDepth = 709.913744; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.913744 # Seafloor depth:-749.913744 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 747.291738 meters looking forward 0.000000 meters along route # Maximum depth: 747.291738 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.291738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974718; longitude = -119.085772; captureRadius = 10; duration = 56; initialDepth = 706.839428; finalDepth = 707.291738; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:707.291738 # Seafloor depth:-747.291738 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 746.839428 meters looking forward 0.000000 meters along route # Maximum depth: 746.839428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.839428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974598; longitude = -119.085122; captureRadius = 10; duration = 56; initialDepth = 703.695231; finalDepth = 706.839428; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.839428 # Seafloor depth:-746.839428 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 743.695231 meters looking forward 0.000000 meters along route # Maximum depth: 743.695231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.695231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974477; longitude = -119.084471; captureRadius = 10; duration = 56; initialDepth = 697.678846; finalDepth = 703.695231; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.695231 # Seafloor depth:-743.695231 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 737.678846 meters looking forward 0.000000 meters along route # Maximum depth: 737.678846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.678846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974357; longitude = -119.083821; captureRadius = 10; duration = 56; initialDepth = 688.526739; finalDepth = 697.678846; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:697.678846 # Seafloor depth:-737.678846 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 728.526739 meters looking forward 0.000000 meters along route # Maximum depth: 728.526739 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.526739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974236; longitude = -119.083170; captureRadius = 10; duration = 56; initialDepth = 683.205786; finalDepth = 688.526739; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.526739 # Seafloor depth:-728.526739 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 723.205786 meters looking forward 0.000000 meters along route # Maximum depth: 723.205786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.205786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974116; longitude = -119.082520; captureRadius = 10; duration = 56; initialDepth = 678.160859; finalDepth = 683.205786; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:683.205786 # Seafloor depth:-723.205786 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 718.160859 meters looking forward 0.000000 meters along route # Maximum depth: 718.160859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.160859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.973995; longitude = -119.081870; captureRadius = 10; duration = 56; initialDepth = 675.772515; finalDepth = 678.160859; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:678.160859 # Seafloor depth:-718.160859 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 715.772515 meters looking forward 0.000000 meters along route # Maximum depth: 715.772515 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.772515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.973875; longitude = -119.081219; captureRadius = 10; duration = 56; initialDepth = 672.902299; finalDepth = 675.772515; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:675.772515 # Seafloor depth:-715.772515 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 712.902299 meters looking forward 0.000000 meters along route # Maximum depth: 712.902299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.902299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.973754; longitude = -119.080569; captureRadius = 10; duration = 56; initialDepth = 672.746303; finalDepth = 672.902299; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:672.902299 # Seafloor depth:-712.902299 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 712.746303 meters looking forward 0.000000 meters along route # Maximum depth: 712.746303 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.746303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.973634; longitude = -119.079918; captureRadius = 10; duration = 56; initialDepth = 672.920260; finalDepth = 672.746303; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:672.746303 # Seafloor depth:-712.746303 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 712.920260 meters looking forward 0.000000 meters along route # Maximum depth: 712.920260 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.920260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.973513; longitude = -119.079268; captureRadius = 10; duration = 56; initialDepth = 674.245142; finalDepth = 672.920260; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:672.92026 # Seafloor depth:-712.920260 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 714.245142 meters looking forward 0.000000 meters along route # Maximum depth: 714.245142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.245142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.973393; longitude = -119.078618; captureRadius = 10; duration = 56; initialDepth = 679.592362; finalDepth = 674.245142; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:674.245142 # Seafloor depth:-714.245142 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 719.592362 meters looking forward 0.000000 meters along route # Maximum depth: 719.592362 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.592362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.973272; longitude = -119.077967; captureRadius = 10; duration = 56; initialDepth = 688.996441; finalDepth = 679.592362; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:679.592362 # Seafloor depth:-719.592362 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 728.996441 meters looking forward 0.000000 meters along route # Maximum depth: 728.996441 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.996441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.973151; longitude = -119.077317; captureRadius = 10; duration = 56; initialDepth = 694.263085; finalDepth = 688.996441; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.996441 # Seafloor depth:-728.996441 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 734.263085 meters looking forward 0.000000 meters along route # Maximum depth: 734.263085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.263085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.973031; longitude = -119.076666; captureRadius = 10; duration = 56; initialDepth = 697.750478; finalDepth = 694.263085; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.263085 # Seafloor depth:-734.263085 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 737.750478 meters looking forward 0.000000 meters along route # Maximum depth: 737.750478 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.750478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.972910; longitude = -119.076016; captureRadius = 10; duration = 56; initialDepth = 697.620016; finalDepth = 697.750478; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:697.750478 # Seafloor depth:-737.750478 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 737.620016 meters looking forward 0.000000 meters along route # Maximum depth: 737.620016 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.620016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.972790; longitude = -119.075366; captureRadius = 10; duration = 56; initialDepth = 695.827218; finalDepth = 697.620016; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:697.620016 # Seafloor depth:-737.620016 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 735.827218 meters looking forward 0.000000 meters along route # Maximum depth: 735.827218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.827218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.972669; longitude = -119.074715; captureRadius = 10; duration = 56; initialDepth = 694.504344; finalDepth = 695.827218; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:695.827218 # Seafloor depth:-735.827218 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 734.504344 meters looking forward 0.000000 meters along route # Maximum depth: 734.504344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.504344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.972549; longitude = -119.074065; captureRadius = 10; duration = 56; initialDepth = 695.927591; finalDepth = 694.504344; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.504344 # Seafloor depth:-734.504344 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 735.927591 meters looking forward 0.000000 meters along route # Maximum depth: 735.927591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.927591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.972428; longitude = -119.073414; captureRadius = 10; duration = 56; initialDepth = 698.855378; finalDepth = 695.927591; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:695.927591 # Seafloor depth:-735.927591 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 738.855378 meters looking forward 0.000000 meters along route # Maximum depth: 738.855378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.855378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.972308; longitude = -119.072764; captureRadius = 10; duration = 56; initialDepth = 703.268147; finalDepth = 698.855378; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.855378 # Seafloor depth:-738.855378 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 743.268147 meters looking forward 0.000000 meters along route # Maximum depth: 743.268147 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.268147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.972187; longitude = -119.072114; captureRadius = 10; duration = 56; initialDepth = 706.870148; finalDepth = 703.268147; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.268147 # Seafloor depth:-743.268147 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 746.870148 meters looking forward 0.000000 meters along route # Maximum depth: 746.870148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.870148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.972067; longitude = -119.071463; captureRadius = 10; duration = 56; initialDepth = 709.536217; finalDepth = 706.870148; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.870148 # Seafloor depth:-746.870148 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 749.536217 meters looking forward 0.000000 meters along route # Maximum depth: 749.536217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.536217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.971946; longitude = -119.070813; captureRadius = 10; duration = 56; initialDepth = 712.589103; finalDepth = 709.536217; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.536217 # Seafloor depth:-749.536217 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 752.589103 meters looking forward 0.000000 meters along route # Maximum depth: 752.589103 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.589103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.971826; longitude = -119.070162; captureRadius = 10; duration = 56; initialDepth = 714.644764; finalDepth = 712.589103; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:712.589103 # Seafloor depth:-752.589103 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 754.644764 meters looking forward 0.000000 meters along route # Maximum depth: 754.644764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.644764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.971705; longitude = -119.069512; captureRadius = 10; duration = 56; initialDepth = 707.740008; finalDepth = 714.644764; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:714.644764 # Seafloor depth:-754.644764 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 747.740008 meters looking forward 0.000000 meters along route # Maximum depth: 747.740008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.740008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.971585; longitude = -119.068862; captureRadius = 10; duration = 56; initialDepth = 702.168787; finalDepth = 707.740008; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:707.740008 # Seafloor depth:-747.740008 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 742.168787 meters looking forward 0.000000 meters along route # Maximum depth: 742.168787 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.168787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.971464; longitude = -119.068211; captureRadius = 10; duration = 56; initialDepth = 699.092621; finalDepth = 702.168787; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:702.168787 # Seafloor depth:-742.168787 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 739.092621 meters looking forward 0.000000 meters along route # Maximum depth: 739.092621 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.092621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.971344; longitude = -119.067561; captureRadius = 10; duration = 56; initialDepth = 699.938559; finalDepth = 699.092621; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:699.092621 # Seafloor depth:-739.092621 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 739.938559 meters looking forward 0.000000 meters along route # Maximum depth: 739.938559 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.938559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.971223; longitude = -119.066910; captureRadius = 10; duration = 56; initialDepth = 700.451539; finalDepth = 699.938559; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:699.938559 # Seafloor depth:-739.938559 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 740.451539 meters looking forward 0.000000 meters along route # Maximum depth: 740.451539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.451539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.971103; longitude = -119.066260; captureRadius = 10; duration = 56; initialDepth = 701.334663; finalDepth = 700.451539; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:700.451539 # Seafloor depth:-740.451539 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 56.463859 meters # Minimum depth: 741.334663 meters looking forward 0.000000 meters along route # Maximum depth: 741.334663 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.334663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.970982; longitude = -119.065610; captureRadius = 10; duration = 56; initialDepth = 703.163040; finalDepth = 701.334663; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:701.334663 # Seafloor depth:-741.334663 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 81 # Segment length 56.463859 meters # Minimum depth: 743.163040 meters looking forward 0.000000 meters along route # Maximum depth: 743.163040 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.163040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.970875; longitude = -119.065031; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 703.288669; finalDepth = 703.163040; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.16304 # Seafloor depth:-743.163040 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 743.288669 meters looking forward 0.000000 meters along route # Maximum depth: 743.288669 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.288669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.970731; longitude = -119.064959; captureRadius = 10; duration = 56; initialDepth = 704.025973; finalDepth = 703.288669; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.288669 # Seafloor depth:-743.288669 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 744.025973 meters looking forward 0.000000 meters along route # Maximum depth: 744.025973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.025973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.970296; longitude = -119.064742; captureRadius = 10; duration = 56; initialDepth = 703.928389; finalDepth = 704.025973; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:704.025973 # Seafloor depth:-744.025973 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 743.928389 meters looking forward 0.000000 meters along route # Maximum depth: 743.928389 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.928389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.969853; longitude = -119.064522; captureRadius = 10; duration = 56; initialDepth = 704.654509; finalDepth = 703.928389; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.928389 # Seafloor depth:-743.928389 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 744.654509 meters looking forward 0.000000 meters along route # Maximum depth: 744.654509 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.654509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.969426; longitude = -119.064309; captureRadius = 10; duration = 56; initialDepth = 704.171811; finalDepth = 704.654509; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:704.654509 # Seafloor depth:-744.654509 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 744.171811 meters looking forward 0.000000 meters along route # Maximum depth: 744.171811 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.171811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.968991; longitude = -119.064092; captureRadius = 10; duration = 56; initialDepth = 705.734574; finalDepth = 704.171811; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:704.171811 # Seafloor depth:-744.171811 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 745.734574 meters looking forward 0.000000 meters along route # Maximum depth: 745.734574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.734574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.968556; longitude = -119.063875; captureRadius = 10; duration = 56; initialDepth = 706.687749; finalDepth = 705.734574; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.734574 # Seafloor depth:-745.734574 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 746.687749 meters looking forward 0.000000 meters along route # Maximum depth: 746.687749 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.687749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.968120; longitude = -119.063658; captureRadius = 10; duration = 56; initialDepth = 706.748854; finalDepth = 706.687749; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.687749 # Seafloor depth:-746.687749 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 746.748854 meters looking forward 0.000000 meters along route # Maximum depth: 746.748854 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.748854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.967685; longitude = -119.063442; captureRadius = 10; duration = 56; initialDepth = 707.989912; finalDepth = 706.748854; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.748854 # Seafloor depth:-746.748854 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 747.989912 meters looking forward 0.000000 meters along route # Maximum depth: 747.989912 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.989912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.967250; longitude = -119.063225; captureRadius = 10; duration = 56; initialDepth = 708.889764; finalDepth = 707.989912; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:707.989912 # Seafloor depth:-747.989912 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 748.889764 meters looking forward 0.000000 meters along route # Maximum depth: 748.889764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.889764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.966815; longitude = -119.063008; captureRadius = 10; duration = 56; initialDepth = 710.139640; finalDepth = 708.889764; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:708.889764 # Seafloor depth:-748.889764 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 750.139640 meters looking forward 0.000000 meters along route # Maximum depth: 750.139640 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.139640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.966380; longitude = -119.062791; captureRadius = 10; duration = 56; initialDepth = 710.594293; finalDepth = 710.139640; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.13964 # Seafloor depth:-750.139640 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 750.594293 meters looking forward 0.000000 meters along route # Maximum depth: 750.594293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.594293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.965945; longitude = -119.062574; captureRadius = 10; duration = 56; initialDepth = 714.322489; finalDepth = 710.594293; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.594293 # Seafloor depth:-750.594293 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 754.322489 meters looking forward 0.000000 meters along route # Maximum depth: 754.322489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.322489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.965510; longitude = -119.062358; captureRadius = 10; duration = 56; initialDepth = 713.207690; finalDepth = 714.322489; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:714.322489 # Seafloor depth:-754.322489 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 753.207690 meters looking forward 0.000000 meters along route # Maximum depth: 753.207690 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.207690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.965075; longitude = -119.062141; captureRadius = 10; duration = 56; initialDepth = 712.100271; finalDepth = 713.207690; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.20769 # Seafloor depth:-753.207690 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 752.100271 meters looking forward 0.000000 meters along route # Maximum depth: 752.100271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.100271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.964623; longitude = -119.061916; captureRadius = 10; duration = 56; initialDepth = 713.106101; finalDepth = 712.100271; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:712.100271 # Seafloor depth:-752.100271 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 753.106101 meters looking forward 0.000000 meters along route # Maximum depth: 753.106101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.106101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.964205; longitude = -119.061707; captureRadius = 10; duration = 56; initialDepth = 714.686441; finalDepth = 713.106101; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.106101 # Seafloor depth:-753.106101 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 754.686441 meters looking forward 0.000000 meters along route # Maximum depth: 754.686441 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.686441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.963770; longitude = -119.061490; captureRadius = 10; duration = 56; initialDepth = 714.932005; finalDepth = 714.686441; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:714.686441 # Seafloor depth:-754.686441 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 754.932005 meters looking forward 0.000000 meters along route # Maximum depth: 754.932005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.932005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.963335; longitude = -119.061274; captureRadius = 10; duration = 56; initialDepth = 715.802745; finalDepth = 714.932005; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:714.932005 # Seafloor depth:-754.932005 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 755.802745 meters looking forward 0.000000 meters along route # Maximum depth: 755.802745 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.802745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.962900; longitude = -119.061057; captureRadius = 10; duration = 56; initialDepth = 716.027491; finalDepth = 715.802745; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:715.802745 # Seafloor depth:-755.802745 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 756.027491 meters looking forward 0.000000 meters along route # Maximum depth: 756.027491 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.027491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.962459; longitude = -119.060837; captureRadius = 10; duration = 56; initialDepth = 716.924729; finalDepth = 716.027491; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:716.027491 # Seafloor depth:-756.027491 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 756.924729 meters looking forward 0.000000 meters along route # Maximum depth: 756.924729 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.924729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.962030; longitude = -119.060623; captureRadius = 10; duration = 56; initialDepth = 718.424981; finalDepth = 716.924729; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:716.924729 # Seafloor depth:-756.924729 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 758.424981 meters looking forward 0.000000 meters along route # Maximum depth: 758.424981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.424981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.961594; longitude = -119.060406; captureRadius = 10; duration = 56; initialDepth = 719.203535; finalDepth = 718.424981; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:718.424981 # Seafloor depth:-758.424981 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 759.203535 meters looking forward 0.000000 meters along route # Maximum depth: 759.203535 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.203535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.961159; longitude = -119.060190; captureRadius = 10; duration = 56; initialDepth = 720.184387; finalDepth = 719.203535; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:719.203535 # Seafloor depth:-759.203535 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 760.184387 meters looking forward 0.000000 meters along route # Maximum depth: 760.184387 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.184387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.960724; longitude = -119.059973; captureRadius = 10; duration = 56; initialDepth = 721.445662; finalDepth = 720.184387; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:720.184387 # Seafloor depth:-760.184387 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 761.445662 meters looking forward 0.000000 meters along route # Maximum depth: 761.445662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.445662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.960289; longitude = -119.059756; captureRadius = 10; duration = 56; initialDepth = 721.103406; finalDepth = 721.445662; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:721.445662 # Seafloor depth:-761.445662 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 761.103406 meters looking forward 0.000000 meters along route # Maximum depth: 761.103406 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.103406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.959854; longitude = -119.059539; captureRadius = 10; duration = 56; initialDepth = 720.941472; finalDepth = 721.103406; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:721.103406 # Seafloor depth:-761.103406 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 760.941472 meters looking forward 0.000000 meters along route # Maximum depth: 760.941472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.941472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.959419; longitude = -119.059322; captureRadius = 10; duration = 56; initialDepth = 720.860233; finalDepth = 720.941472; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:720.941472 # Seafloor depth:-760.941472 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 760.860233 meters looking forward 0.000000 meters along route # Maximum depth: 760.860233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.860233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.958984; longitude = -119.059106; captureRadius = 10; duration = 56; initialDepth = 721.096481; finalDepth = 720.860233; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:720.860233 # Seafloor depth:-760.860233 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 761.096481 meters looking forward 0.000000 meters along route # Maximum depth: 761.096481 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.096481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.958549; longitude = -119.058889; captureRadius = 10; duration = 56; initialDepth = 720.439345; finalDepth = 721.096481; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:721.096481 # Seafloor depth:-761.096481 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 760.439345 meters looking forward 0.000000 meters along route # Maximum depth: 760.439345 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.439345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.958114; longitude = -119.058672; captureRadius = 10; duration = 56; initialDepth = 721.230162; finalDepth = 720.439345; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:720.439345 # Seafloor depth:-760.439345 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 761.230162 meters looking forward 0.000000 meters along route # Maximum depth: 761.230162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.230162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.957679; longitude = -119.058455; captureRadius = 10; duration = 56; initialDepth = 722.182637; finalDepth = 721.230162; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:721.230162 # Seafloor depth:-761.230162 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 762.182637 meters looking forward 0.000000 meters along route # Maximum depth: 762.182637 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.182637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.957229; longitude = -119.058231; captureRadius = 10; duration = 56; initialDepth = 722.109250; finalDepth = 722.182637; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:722.182637 # Seafloor depth:-762.182637 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 762.109250 meters looking forward 0.000000 meters along route # Maximum depth: 762.109250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.109250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.956809; longitude = -119.058022; captureRadius = 10; duration = 56; initialDepth = 720.763561; finalDepth = 722.109250; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:722.10925 # Seafloor depth:-762.109250 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 760.763561 meters looking forward 0.000000 meters along route # Maximum depth: 760.763561 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.763561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.956374; longitude = -119.057805; captureRadius = 10; duration = 56; initialDepth = 720.262063; finalDepth = 720.763561; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:720.763561 # Seafloor depth:-760.763561 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 760.262063 meters looking forward 0.000000 meters along route # Maximum depth: 760.262063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.262063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.955939; longitude = -119.057588; captureRadius = 10; duration = 56; initialDepth = 720.985034; finalDepth = 720.262063; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:720.262063 # Seafloor depth:-760.262063 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 760.985034 meters looking forward 0.000000 meters along route # Maximum depth: 760.985034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.985034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.955504; longitude = -119.057371; captureRadius = 10; duration = 56; initialDepth = 715.344830; finalDepth = 720.985034; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:720.985034 # Seafloor depth:-760.985034 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 755.344830 meters looking forward 0.000000 meters along route # Maximum depth: 755.344830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.344830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.955065; longitude = -119.057153; captureRadius = 10; duration = 56; initialDepth = 706.217777; finalDepth = 715.344830; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:715.34483 # Seafloor depth:-755.344830 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 746.217777 meters looking forward 0.000000 meters along route # Maximum depth: 746.217777 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.217777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.954633; longitude = -119.056938; captureRadius = 10; duration = 56; initialDepth = 714.003640; finalDepth = 706.217777; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.217777 # Seafloor depth:-746.217777 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 754.003640 meters looking forward 0.000000 meters along route # Maximum depth: 754.003640 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.003640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.954198; longitude = -119.056721; captureRadius = 10; duration = 56; initialDepth = 717.916713; finalDepth = 714.003640; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:714.00364 # Seafloor depth:-754.003640 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 757.916713 meters looking forward 0.000000 meters along route # Maximum depth: 757.916713 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.916713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.953763; longitude = -119.056504; captureRadius = 10; duration = 56; initialDepth = 712.490148; finalDepth = 717.916713; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:717.916713 # Seafloor depth:-757.916713 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 752.490148 meters looking forward 0.000000 meters along route # Maximum depth: 752.490148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.490148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.953328; longitude = -119.056287; captureRadius = 10; duration = 56; initialDepth = 714.143761; finalDepth = 712.490148; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:712.490148 # Seafloor depth:-752.490148 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 754.143761 meters looking forward 0.000000 meters along route # Maximum depth: 754.143761 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.143761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.952893; longitude = -119.056070; captureRadius = 10; duration = 56; initialDepth = 715.545607; finalDepth = 714.143761; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:714.143761 # Seafloor depth:-754.143761 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 56.463859 meters # Minimum depth: 755.545607 meters looking forward 0.000000 meters along route # Maximum depth: 755.545607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.545607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.952360; longitude = -119.055805; captureRadius = 10; duration = 56; initialDepth = 717.218750; finalDepth = 715.545607; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:715.545607 # Seafloor depth:-755.545607 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 80 # Segment length 56.463859 meters # Minimum depth: 757.218750 meters looking forward 0.000000 meters along route # Maximum depth: 757.218750 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.218750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.951879; longitude = -119.055565; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 716.982600; finalDepth = 717.218750; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:717.21875 # Seafloor depth:-757.218750 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 56.463859 meters # Minimum depth: 756.982600 meters looking forward 0.000000 meters along route # Maximum depth: 756.982600 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.982600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.951903; longitude = -119.055854; captureRadius = 10; duration = 56; initialDepth = 716.628476; finalDepth = 716.982600; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:716.9826 # Seafloor depth:-756.982600 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 56.463859 meters # Minimum depth: 756.628476 meters looking forward 0.000000 meters along route # Maximum depth: 756.628476 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.628476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.951957; longitude = -119.056504; captureRadius = 10; duration = 56; initialDepth = 716.435417; finalDepth = 716.628476; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:716.628476 # Seafloor depth:-756.628476 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 56.463859 meters # Minimum depth: 756.435417 meters looking forward 0.000000 meters along route # Maximum depth: 756.435417 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.435417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.952011; longitude = -119.057154; captureRadius = 10; duration = 56; initialDepth = 716.221680; finalDepth = 716.435417; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:716.435417 # Seafloor depth:-756.435417 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 79 # Segment length 56.463859 meters # Minimum depth: 756.221680 meters looking forward 0.000000 meters along route # Maximum depth: 756.221680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.221680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.952059; longitude = -119.057733; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 716.080771; finalDepth = 716.221680; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:716.22168 # Seafloor depth:-756.221680 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 756.080771 meters looking forward 0.000000 meters along route # Maximum depth: 756.080771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.080771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.952205; longitude = -119.057805; captureRadius = 10; duration = 56; initialDepth = 715.638095; finalDepth = 716.080771; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:716.080771 # Seafloor depth:-756.080771 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 755.638095 meters looking forward 0.000000 meters along route # Maximum depth: 755.638095 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.638095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.952648; longitude = -119.058022; captureRadius = 10; duration = 56; initialDepth = 715.133799; finalDepth = 715.638095; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:715.638095 # Seafloor depth:-755.638095 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 755.133799 meters looking forward 0.000000 meters along route # Maximum depth: 755.133799 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.133799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.953090; longitude = -119.058238; captureRadius = 10; duration = 56; initialDepth = 714.761445; finalDepth = 715.133799; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:715.133799 # Seafloor depth:-755.133799 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 754.761445 meters looking forward 0.000000 meters along route # Maximum depth: 754.761445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.761445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.953532; longitude = -119.058455; captureRadius = 10; duration = 56; initialDepth = 714.847683; finalDepth = 714.761445; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:714.761445 # Seafloor depth:-754.761445 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 754.847683 meters looking forward 0.000000 meters along route # Maximum depth: 754.847683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.847683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.953983; longitude = -119.058676; captureRadius = 10; duration = 56; initialDepth = 716.225956; finalDepth = 714.847683; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:714.847683 # Seafloor depth:-754.847683 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 756.225956 meters looking forward 0.000000 meters along route # Maximum depth: 756.225956 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.225956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.954417; longitude = -119.058889; captureRadius = 10; duration = 56; initialDepth = 716.636058; finalDepth = 716.225956; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:716.225956 # Seafloor depth:-756.225956 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 756.636058 meters looking forward 0.000000 meters along route # Maximum depth: 756.636058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.636058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.954859; longitude = -119.059106; captureRadius = 10; duration = 56; initialDepth = 713.816386; finalDepth = 716.636058; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:716.636058 # Seafloor depth:-756.636058 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 753.816386 meters looking forward 0.000000 meters along route # Maximum depth: 753.816386 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.816386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.955302; longitude = -119.059322; captureRadius = 10; duration = 56; initialDepth = 710.093155; finalDepth = 713.816386; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.816386 # Seafloor depth:-753.816386 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 750.093155 meters looking forward 0.000000 meters along route # Maximum depth: 750.093155 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.093155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.955744; longitude = -119.059539; captureRadius = 10; duration = 56; initialDepth = 711.739221; finalDepth = 710.093155; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.093155 # Seafloor depth:-750.093155 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 751.739221 meters looking forward 0.000000 meters along route # Maximum depth: 751.739221 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.739221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.956186; longitude = -119.059756; captureRadius = 10; duration = 56; initialDepth = 711.712599; finalDepth = 711.739221; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:711.739221 # Seafloor depth:-751.739221 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 751.712599 meters looking forward 0.000000 meters along route # Maximum depth: 751.712599 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.712599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.956629; longitude = -119.059973; captureRadius = 10; duration = 56; initialDepth = 717.270328; finalDepth = 711.712599; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:711.712599 # Seafloor depth:-751.712599 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 757.270328 meters looking forward 0.000000 meters along route # Maximum depth: 757.270328 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.270328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.957071; longitude = -119.060190; captureRadius = 10; duration = 56; initialDepth = 724.899816; finalDepth = 717.270328; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:717.270328 # Seafloor depth:-757.270328 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 764.899816 meters looking forward 0.000000 meters along route # Maximum depth: 764.899816 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.899816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.957513; longitude = -119.060406; captureRadius = 10; duration = 56; initialDepth = 725.167975; finalDepth = 724.899816; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:724.899816 # Seafloor depth:-764.899816 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 765.167975 meters looking forward 0.000000 meters along route # Maximum depth: 765.167975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.167975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.957956; longitude = -119.060623; captureRadius = 10; duration = 56; initialDepth = 723.735222; finalDepth = 725.167975; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:725.167975 # Seafloor depth:-765.167975 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 763.735222 meters looking forward 0.000000 meters along route # Maximum depth: 763.735222 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.735222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.958398; longitude = -119.060840; captureRadius = 10; duration = 56; initialDepth = 722.983766; finalDepth = 723.735222; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:723.735222 # Seafloor depth:-763.735222 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 762.983766 meters looking forward 0.000000 meters along route # Maximum depth: 762.983766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.983766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.958852; longitude = -119.061063; captureRadius = 10; duration = 56; initialDepth = 723.912391; finalDepth = 722.983766; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:722.983766 # Seafloor depth:-762.983766 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 763.912391 meters looking forward 0.000000 meters along route # Maximum depth: 763.912391 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.912391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.959282; longitude = -119.061274; captureRadius = 10; duration = 56; initialDepth = 722.991364; finalDepth = 723.912391; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:723.912391 # Seafloor depth:-763.912391 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 762.991364 meters looking forward 0.000000 meters along route # Maximum depth: 762.991364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.991364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.959725; longitude = -119.061490; captureRadius = 10; duration = 56; initialDepth = 723.231144; finalDepth = 722.991364; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:722.991364 # Seafloor depth:-762.991364 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 763.231144 meters looking forward 0.000000 meters along route # Maximum depth: 763.231144 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.231144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.960167; longitude = -119.061707; captureRadius = 10; duration = 56; initialDepth = 722.255474; finalDepth = 723.231144; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:723.231144 # Seafloor depth:-763.231144 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 762.255474 meters looking forward 0.000000 meters along route # Maximum depth: 762.255474 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.255474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.960609; longitude = -119.061924; captureRadius = 10; duration = 56; initialDepth = 721.084156; finalDepth = 722.255474; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:722.255474 # Seafloor depth:-762.255474 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 761.084156 meters looking forward 0.000000 meters along route # Maximum depth: 761.084156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.084156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.961052; longitude = -119.062141; captureRadius = 10; duration = 56; initialDepth = 720.571106; finalDepth = 721.084156; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:721.084156 # Seafloor depth:-761.084156 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 760.571106 meters looking forward 0.000000 meters along route # Maximum depth: 760.571106 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.571106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.961494; longitude = -119.062358; captureRadius = 10; duration = 56; initialDepth = 720.881041; finalDepth = 720.571106; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:720.571106 # Seafloor depth:-760.571106 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 760.881041 meters looking forward 0.000000 meters along route # Maximum depth: 760.881041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.881041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.961936; longitude = -119.062574; captureRadius = 10; duration = 56; initialDepth = 722.047821; finalDepth = 720.881041; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:720.881041 # Seafloor depth:-760.881041 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 762.047821 meters looking forward 0.000000 meters along route # Maximum depth: 762.047821 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.047821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.962379; longitude = -119.062791; captureRadius = 10; duration = 56; initialDepth = 721.514141; finalDepth = 722.047821; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:722.047821 # Seafloor depth:-762.047821 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 761.514141 meters looking forward 0.000000 meters along route # Maximum depth: 761.514141 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.514141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.962821; longitude = -119.063008; captureRadius = 10; duration = 56; initialDepth = 721.416131; finalDepth = 721.514141; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:721.514141 # Seafloor depth:-761.514141 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 761.416131 meters looking forward 0.000000 meters along route # Maximum depth: 761.416131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.416131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.963263; longitude = -119.063225; captureRadius = 10; duration = 56; initialDepth = 721.912233; finalDepth = 721.416131; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:721.416131 # Seafloor depth:-761.416131 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 761.912233 meters looking forward 0.000000 meters along route # Maximum depth: 761.912233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.912233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.963722; longitude = -119.063449; captureRadius = 10; duration = 56; initialDepth = 722.530010; finalDepth = 721.912233; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:721.912233 # Seafloor depth:-761.912233 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 762.530010 meters looking forward 0.000000 meters along route # Maximum depth: 762.530010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.530010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.964148; longitude = -119.063658; captureRadius = 10; duration = 56; initialDepth = 720.308110; finalDepth = 722.530010; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:722.53001 # Seafloor depth:-762.530010 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 760.308110 meters looking forward 0.000000 meters along route # Maximum depth: 760.308110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.308110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.964590; longitude = -119.063875; captureRadius = 10; duration = 56; initialDepth = 718.102771; finalDepth = 720.308110; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:720.30811 # Seafloor depth:-760.308110 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 758.102771 meters looking forward 0.000000 meters along route # Maximum depth: 758.102771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.102771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.965033; longitude = -119.064092; captureRadius = 10; duration = 56; initialDepth = 716.344826; finalDepth = 718.102771; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:718.102771 # Seafloor depth:-758.102771 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 756.344826 meters looking forward 0.000000 meters along route # Maximum depth: 756.344826 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.344826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.965475; longitude = -119.064309; captureRadius = 10; duration = 56; initialDepth = 715.378714; finalDepth = 716.344826; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:716.344826 # Seafloor depth:-756.344826 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 755.378714 meters looking forward 0.000000 meters along route # Maximum depth: 755.378714 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.378714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.965917; longitude = -119.064526; captureRadius = 10; duration = 56; initialDepth = 715.718888; finalDepth = 715.378714; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:715.378714 # Seafloor depth:-755.378714 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 755.718888 meters looking forward 0.000000 meters along route # Maximum depth: 755.718888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.718888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.966359; longitude = -119.064742; captureRadius = 10; duration = 56; initialDepth = 710.744083; finalDepth = 715.718888; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:715.718888 # Seafloor depth:-755.718888 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 750.744083 meters looking forward 0.000000 meters along route # Maximum depth: 750.744083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.744083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.966802; longitude = -119.064959; captureRadius = 10; duration = 56; initialDepth = 709.531171; finalDepth = 710.744083; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.744083 # Seafloor depth:-750.744083 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 749.531171 meters looking forward 0.000000 meters along route # Maximum depth: 749.531171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.531171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.967244; longitude = -119.065176; captureRadius = 10; duration = 56; initialDepth = 705.456673; finalDepth = 709.531171; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.531171 # Seafloor depth:-749.531171 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 745.456673 meters looking forward 0.000000 meters along route # Maximum depth: 745.456673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.456673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.967689; longitude = -119.065394; captureRadius = 10; duration = 56; initialDepth = 705.253249; finalDepth = 705.456673; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.456673 # Seafloor depth:-745.456673 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 745.253249 meters looking forward 0.000000 meters along route # Maximum depth: 745.253249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.253249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.968129; longitude = -119.065610; captureRadius = 10; duration = 56; initialDepth = 705.905981; finalDepth = 705.253249; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.253249 # Seafloor depth:-745.253249 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 745.905981 meters looking forward 0.000000 meters along route # Maximum depth: 745.905981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.905981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.968591; longitude = -119.065836; captureRadius = 10; duration = 56; initialDepth = 703.396404; finalDepth = 705.905981; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.905981 # Seafloor depth:-745.905981 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 743.396404 meters looking forward 0.000000 meters along route # Maximum depth: 743.396404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.396404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.969132; longitude = -119.066101; captureRadius = 10; duration = 56; initialDepth = 701.526806; finalDepth = 703.396404; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.396404 # Seafloor depth:-743.396404 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 741.526806 meters looking forward 0.000000 meters along route # Maximum depth: 741.526806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.526806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.969673; longitude = -119.066366; captureRadius = 10; duration = 56; initialDepth = 700.181352; finalDepth = 701.526806; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:701.526806 # Seafloor depth:-741.526806 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 56.463859 meters # Minimum depth: 740.181352 meters looking forward 0.000000 meters along route # Maximum depth: 740.181352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.181352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.970214; longitude = -119.066632; captureRadius = 10; duration = 56; initialDepth = 699.410614; finalDepth = 700.181352; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:700.181352 # Seafloor depth:-740.181352 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 78 # Segment length 56.463859 meters # Minimum depth: 739.410614 meters looking forward 0.000000 meters along route # Maximum depth: 739.410614 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.410614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.970635; longitude = -119.066838; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 699.188873; finalDepth = 699.410614; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:699.410614 # Seafloor depth:-739.410614 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 56.463859 meters # Minimum depth: 739.188873 meters looking forward 0.000000 meters along route # Maximum depth: 739.188873 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.188873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.970755; longitude = -119.066850; captureRadius = 10; duration = 56; initialDepth = 699.647493; finalDepth = 699.188873; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:699.188873 # Seafloor depth:-739.188873 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 56.463859 meters # Minimum depth: 739.647493 meters looking forward 0.000000 meters along route # Maximum depth: 739.647493 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.647493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.971379; longitude = -119.066910; captureRadius = 10; duration = 56; initialDepth = 698.972838; finalDepth = 699.647493; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:699.647493 # Seafloor depth:-739.647493 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 56.463859 meters # Minimum depth: 738.972838 meters looking forward 0.000000 meters along route # Maximum depth: 738.972838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.972838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.971837; longitude = -119.066955; captureRadius = 10; duration = 56; initialDepth = 697.795801; finalDepth = 698.972838; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.972838 # Seafloor depth:-738.972838 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 56.463859 meters # Minimum depth: 737.795801 meters looking forward 0.000000 meters along route # Maximum depth: 737.795801 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.795801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.972378; longitude = -119.067008; captureRadius = 10; duration = 56; initialDepth = 696.312671; finalDepth = 697.795801; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:697.795801 # Seafloor depth:-737.795801 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 56.463859 meters # Minimum depth: 736.312671 meters looking forward 0.000000 meters along route # Maximum depth: 736.312671 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.312671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.972919; longitude = -119.067060; captureRadius = 10; duration = 56; initialDepth = 696.142972; finalDepth = 696.312671; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:696.312671 # Seafloor depth:-736.312671 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 56.463859 meters # Minimum depth: 736.142972 meters looking forward 0.000000 meters along route # Maximum depth: 736.142972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.142972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.973460; longitude = -119.067113; captureRadius = 10; duration = 56; initialDepth = 696.344639; finalDepth = 696.142972; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:696.142972 # Seafloor depth:-736.142972 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 56.463859 meters # Minimum depth: 736.344639 meters looking forward 0.000000 meters along route # Maximum depth: 736.344639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.344639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974001; longitude = -119.067165; captureRadius = 10; duration = 56; initialDepth = 695.919200; finalDepth = 696.344639; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:696.344639 # Seafloor depth:-736.344639 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 56.463859 meters # Minimum depth: 735.919200 meters looking forward 0.000000 meters along route # Maximum depth: 735.919200 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.919200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974542; longitude = -119.067218; captureRadius = 10; duration = 56; initialDepth = 695.127922; finalDepth = 695.919200; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:695.9192 # Seafloor depth:-735.919200 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 56.463859 meters # Minimum depth: 735.127922 meters looking forward 0.000000 meters along route # Maximum depth: 735.127922 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.127922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975083; longitude = -119.067271; captureRadius = 10; duration = 56; initialDepth = 695.785249; finalDepth = 695.127922; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:695.127922 # Seafloor depth:-735.127922 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 56.463859 meters # Minimum depth: 735.785249 meters looking forward 0.000000 meters along route # Maximum depth: 735.785249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.785249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975624; longitude = -119.067323; captureRadius = 10; duration = 56; initialDepth = 695.338248; finalDepth = 695.785249; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:695.785249 # Seafloor depth:-735.785249 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 56.463859 meters # Minimum depth: 735.338248 meters looking forward 0.000000 meters along route # Maximum depth: 735.338248 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.338248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976165; longitude = -119.067376; captureRadius = 10; duration = 56; initialDepth = 693.144090; finalDepth = 695.338248; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:695.338248 # Seafloor depth:-735.338248 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 56.463859 meters # Minimum depth: 733.144090 meters looking forward 0.000000 meters along route # Maximum depth: 733.144090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.144090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976706; longitude = -119.067428; captureRadius = 10; duration = 56; initialDepth = 688.363677; finalDepth = 693.144090; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:693.14409 # Seafloor depth:-733.144090 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 56.463859 meters # Minimum depth: 728.363677 meters looking forward 0.000000 meters along route # Maximum depth: 728.363677 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.363677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977247; longitude = -119.067481; captureRadius = 10; duration = 56; initialDepth = 682.352635; finalDepth = 688.363677; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.363677 # Seafloor depth:-728.363677 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 56.463859 meters # Minimum depth: 722.352635 meters looking forward 0.000000 meters along route # Maximum depth: 722.352635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.352635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977788; longitude = -119.067534; captureRadius = 10; duration = 56; initialDepth = 676.694021; finalDepth = 682.352635; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:682.352635 # Seafloor depth:-722.352635 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 56.463859 meters # Minimum depth: 716.694021 meters looking forward 0.000000 meters along route # Maximum depth: 716.694021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.694021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.978329; longitude = -119.067586; captureRadius = 10; duration = 56; initialDepth = 674.553238; finalDepth = 676.694021; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:676.694021 # Seafloor depth:-716.694021 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 77 # Segment length 56.463859 meters # Minimum depth: 714.553238 meters looking forward 0.000000 meters along route # Maximum depth: 714.553238 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.553238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.978810; longitude = -119.067633; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 677.173116; finalDepth = 674.553238; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:674.553238 # Seafloor depth:-714.553238 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 56.463859 meters # Minimum depth: 717.173116 meters looking forward 0.000000 meters along route # Maximum depth: 717.173116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 677.173116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.979111; longitude = -119.067994; captureRadius = 10; duration = 56; initialDepth = 678.230465; finalDepth = 677.173116; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:677.173116 # Seafloor depth:-717.173116 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 56.463859 meters # Minimum depth: 718.230465 meters looking forward 0.000000 meters along route # Maximum depth: 718.230465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.230465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.979472; longitude = -119.068428; captureRadius = 10; duration = 56; initialDepth = 677.905211; finalDepth = 678.230465; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:678.230465 # Seafloor depth:-718.230465 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 56.463859 meters # Minimum depth: 717.905211 meters looking forward 0.000000 meters along route # Maximum depth: 717.905211 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 677.905211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.979832; longitude = -119.068862; captureRadius = 10; duration = 56; initialDepth = 677.996933; finalDepth = 677.905211; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:677.905211 # Seafloor depth:-717.905211 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 76 # Segment length 56.463859 meters # Minimum depth: 717.996933 meters looking forward 0.000000 meters along route # Maximum depth: 717.996933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 677.996933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.980253; longitude = -119.069367; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 678.666206; finalDepth = 677.996933; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:677.996933 # Seafloor depth:-717.996933 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 56.463859 meters # Minimum depth: 718.666206 meters looking forward 0.000000 meters along route # Maximum depth: 718.666206 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.666206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.980133; longitude = -119.069357; captureRadius = 10; duration = 56; initialDepth = 682.585117; finalDepth = 678.666206; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:678.666206 # Seafloor depth:-718.666206 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 56.463859 meters # Minimum depth: 722.585117 meters looking forward 0.000000 meters along route # Maximum depth: 722.585117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.585117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.979592; longitude = -119.069313; captureRadius = 10; duration = 56; initialDepth = 684.419047; finalDepth = 682.585117; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:682.585117 # Seafloor depth:-722.585117 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 56.463859 meters # Minimum depth: 724.419047 meters looking forward 0.000000 meters along route # Maximum depth: 724.419047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.419047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.979051; longitude = -119.069269; captureRadius = 10; duration = 56; initialDepth = 687.705746; finalDepth = 684.419047; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:684.419047 # Seafloor depth:-724.419047 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 56.463859 meters # Minimum depth: 727.705746 meters looking forward 0.000000 meters along route # Maximum depth: 727.705746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.705746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.978510; longitude = -119.069226; captureRadius = 10; duration = 56; initialDepth = 690.077220; finalDepth = 687.705746; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:687.705746 # Seafloor depth:-727.705746 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 56.463859 meters # Minimum depth: 730.077220 meters looking forward 0.000000 meters along route # Maximum depth: 730.077220 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.077220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977969; longitude = -119.069182; captureRadius = 10; duration = 56; initialDepth = 693.618675; finalDepth = 690.077220; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:690.07722 # Seafloor depth:-730.077220 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 56.463859 meters # Minimum depth: 733.618675 meters looking forward 0.000000 meters along route # Maximum depth: 733.618675 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.618675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977428; longitude = -119.069138; captureRadius = 10; duration = 56; initialDepth = 696.085696; finalDepth = 693.618675; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:693.618675 # Seafloor depth:-733.618675 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 56.463859 meters # Minimum depth: 736.085696 meters looking forward 0.000000 meters along route # Maximum depth: 736.085696 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.085696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976887; longitude = -119.069094; captureRadius = 10; duration = 56; initialDepth = 697.386650; finalDepth = 696.085696; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:696.085696 # Seafloor depth:-736.085696 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 56.463859 meters # Minimum depth: 737.386650 meters looking forward 0.000000 meters along route # Maximum depth: 737.386650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.386650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976346; longitude = -119.069050; captureRadius = 10; duration = 56; initialDepth = 702.457057; finalDepth = 697.386650; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:697.38665 # Seafloor depth:-737.386650 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 56.463859 meters # Minimum depth: 742.457057 meters looking forward 0.000000 meters along route # Maximum depth: 742.457057 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.457057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975805; longitude = -119.069006; captureRadius = 10; duration = 56; initialDepth = 704.928894; finalDepth = 702.457057; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:702.457057 # Seafloor depth:-742.457057 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 56.463859 meters # Minimum depth: 744.928894 meters looking forward 0.000000 meters along route # Maximum depth: 744.928894 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.928894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975264; longitude = -119.068962; captureRadius = 10; duration = 56; initialDepth = 706.529846; finalDepth = 704.928894; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:704.928894 # Seafloor depth:-744.928894 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 56.463859 meters # Minimum depth: 746.529846 meters looking forward 0.000000 meters along route # Maximum depth: 746.529846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.529846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974723; longitude = -119.068918; captureRadius = 10; duration = 56; initialDepth = 707.643242; finalDepth = 706.529846; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.529846 # Seafloor depth:-746.529846 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 56.463859 meters # Minimum depth: 747.643242 meters looking forward 0.000000 meters along route # Maximum depth: 747.643242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.643242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974182; longitude = -119.068874; captureRadius = 10; duration = 56; initialDepth = 707.160350; finalDepth = 707.643242; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:707.643242 # Seafloor depth:-747.643242 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 56.463859 meters # Minimum depth: 747.160350 meters looking forward 0.000000 meters along route # Maximum depth: 747.160350 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.160350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.973640; longitude = -119.068831; captureRadius = 10; duration = 56; initialDepth = 707.559391; finalDepth = 707.160350; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:707.16035 # Seafloor depth:-747.160350 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 56.463859 meters # Minimum depth: 747.559391 meters looking forward 0.000000 meters along route # Maximum depth: 747.559391 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.559391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.973099; longitude = -119.068787; captureRadius = 10; duration = 56; initialDepth = 708.195714; finalDepth = 707.559391; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:707.559391 # Seafloor depth:-747.559391 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 56.463859 meters # Minimum depth: 748.195714 meters looking forward 0.000000 meters along route # Maximum depth: 748.195714 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.195714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.972558; longitude = -119.068743; captureRadius = 10; duration = 56; initialDepth = 707.634583; finalDepth = 708.195714; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:708.195714 # Seafloor depth:-748.195714 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 56.463859 meters # Minimum depth: 747.634583 meters looking forward 0.000000 meters along route # Maximum depth: 747.634583 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.634583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.972017; longitude = -119.068699; captureRadius = 10; duration = 56; initialDepth = 705.805072; finalDepth = 707.634583; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:707.634583 # Seafloor depth:-747.634583 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 56.463859 meters # Minimum depth: 745.805072 meters looking forward 0.000000 meters along route # Maximum depth: 745.805072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.805072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.971476; longitude = -119.068655; captureRadius = 10; duration = 56; initialDepth = 707.042354; finalDepth = 705.805072; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.805072 # Seafloor depth:-745.805072 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 56.463859 meters # Minimum depth: 747.042354 meters looking forward 0.000000 meters along route # Maximum depth: 747.042354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.042354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.970935; longitude = -119.068611; captureRadius = 10; duration = 56; initialDepth = 709.969772; finalDepth = 707.042354; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:707.042354 # Seafloor depth:-747.042354 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 75 # Segment length 56.463859 meters # Minimum depth: 749.969772 meters looking forward 0.000000 meters along route # Maximum depth: 749.969772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.969772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.970454; longitude = -119.068572; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 712.314885; finalDepth = 709.969772; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.969772 # Seafloor depth:-749.969772 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 752.314885 meters looking forward 0.000000 meters along route # Maximum depth: 752.314885 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.314885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.970163; longitude = -119.068428; captureRadius = 10; duration = 56; initialDepth = 714.139775; finalDepth = 712.314885; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:712.314885 # Seafloor depth:-752.314885 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 754.139775 meters looking forward 0.000000 meters along route # Maximum depth: 754.139775 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.139775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.969724; longitude = -119.068211; captureRadius = 10; duration = 56; initialDepth = 716.135558; finalDepth = 714.139775; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:714.139775 # Seafloor depth:-754.139775 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 756.135558 meters looking forward 0.000000 meters along route # Maximum depth: 756.135558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.135558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.969285; longitude = -119.067994; captureRadius = 10; duration = 56; initialDepth = 718.533997; finalDepth = 716.135558; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:716.135558 # Seafloor depth:-756.135558 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 758.533997 meters looking forward 0.000000 meters along route # Maximum depth: 758.533997 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.533997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.968847; longitude = -119.067778; captureRadius = 10; duration = 56; initialDepth = 715.169378; finalDepth = 718.533997; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:718.533997 # Seafloor depth:-758.533997 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 755.169378 meters looking forward 0.000000 meters along route # Maximum depth: 755.169378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.169378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.968408; longitude = -119.067561; captureRadius = 10; duration = 56; initialDepth = 715.752436; finalDepth = 715.169378; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:715.169378 # Seafloor depth:-755.169378 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 755.752436 meters looking forward 0.000000 meters along route # Maximum depth: 755.752436 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.752436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.967969; longitude = -119.067344; captureRadius = 10; duration = 56; initialDepth = 717.387554; finalDepth = 715.752436; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:715.752436 # Seafloor depth:-755.752436 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 757.387554 meters looking forward 0.000000 meters along route # Maximum depth: 757.387554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.387554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.967509; longitude = -119.067116; captureRadius = 10; duration = 56; initialDepth = 717.266974; finalDepth = 717.387554; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:717.387554 # Seafloor depth:-757.387554 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 757.266974 meters looking forward 0.000000 meters along route # Maximum depth: 757.266974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.266974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.967092; longitude = -119.066910; captureRadius = 10; duration = 56; initialDepth = 718.871503; finalDepth = 717.266974; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:717.266974 # Seafloor depth:-757.266974 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 758.871503 meters looking forward 0.000000 meters along route # Maximum depth: 758.871503 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.871503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.966653; longitude = -119.066694; captureRadius = 10; duration = 56; initialDepth = 718.668577; finalDepth = 718.871503; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:718.871503 # Seafloor depth:-758.871503 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 758.668577 meters looking forward 0.000000 meters along route # Maximum depth: 758.668577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.668577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.966215; longitude = -119.066477; captureRadius = 10; duration = 56; initialDepth = 719.164292; finalDepth = 718.668577; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:718.668577 # Seafloor depth:-758.668577 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 759.164292 meters looking forward 0.000000 meters along route # Maximum depth: 759.164292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.164292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.965776; longitude = -119.066260; captureRadius = 10; duration = 56; initialDepth = 718.052587; finalDepth = 719.164292; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:719.164292 # Seafloor depth:-759.164292 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 758.052587 meters looking forward 0.000000 meters along route # Maximum depth: 758.052587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.052587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.965337; longitude = -119.066043; captureRadius = 10; duration = 56; initialDepth = 719.363023; finalDepth = 718.052587; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:718.052587 # Seafloor depth:-758.052587 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 759.363023 meters looking forward 0.000000 meters along route # Maximum depth: 759.363023 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.363023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.964899; longitude = -119.065826; captureRadius = 10; duration = 56; initialDepth = 718.139874; finalDepth = 719.363023; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:719.363023 # Seafloor depth:-759.363023 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 758.139874 meters looking forward 0.000000 meters along route # Maximum depth: 758.139874 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.139874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.964443; longitude = -119.065601; captureRadius = 10; duration = 56; initialDepth = 715.961582; finalDepth = 718.139874; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:718.139874 # Seafloor depth:-758.139874 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 755.961582 meters looking forward 0.000000 meters along route # Maximum depth: 755.961582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.961582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.964021; longitude = -119.065393; captureRadius = 10; duration = 56; initialDepth = 715.933506; finalDepth = 715.961582; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:715.961582 # Seafloor depth:-755.961582 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 755.933506 meters looking forward 0.000000 meters along route # Maximum depth: 755.933506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.933506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.963583; longitude = -119.065176; captureRadius = 10; duration = 56; initialDepth = 715.853512; finalDepth = 715.933506; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:715.933506 # Seafloor depth:-755.933506 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 755.853512 meters looking forward 0.000000 meters along route # Maximum depth: 755.853512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.853512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.963144; longitude = -119.064959; captureRadius = 10; duration = 56; initialDepth = 715.290560; finalDepth = 715.853512; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:715.853512 # Seafloor depth:-755.853512 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 755.290560 meters looking forward 0.000000 meters along route # Maximum depth: 755.290560 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.290560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.962705; longitude = -119.064742; captureRadius = 10; duration = 56; initialDepth = 713.957926; finalDepth = 715.290560; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:715.29056 # Seafloor depth:-755.290560 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 753.957926 meters looking forward 0.000000 meters along route # Maximum depth: 753.957926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.957926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.962267; longitude = -119.064526; captureRadius = 10; duration = 56; initialDepth = 714.558974; finalDepth = 713.957926; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.957926 # Seafloor depth:-753.957926 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 754.558974 meters looking forward 0.000000 meters along route # Maximum depth: 754.558974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.558974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.961828; longitude = -119.064309; captureRadius = 10; duration = 56; initialDepth = 714.292085; finalDepth = 714.558974; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:714.558974 # Seafloor depth:-754.558974 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 754.292085 meters looking forward 0.000000 meters along route # Maximum depth: 754.292085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.292085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.961377; longitude = -119.064086; captureRadius = 10; duration = 56; initialDepth = 714.875482; finalDepth = 714.292085; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:714.292085 # Seafloor depth:-754.292085 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 754.875482 meters looking forward 0.000000 meters along route # Maximum depth: 754.875482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.875482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.960951; longitude = -119.063875; captureRadius = 10; duration = 56; initialDepth = 716.109218; finalDepth = 714.875482; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:714.875482 # Seafloor depth:-754.875482 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 756.109218 meters looking forward 0.000000 meters along route # Maximum depth: 756.109218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.109218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.960512; longitude = -119.063658; captureRadius = 10; duration = 56; initialDepth = 717.960374; finalDepth = 716.109218; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:716.109218 # Seafloor depth:-756.109218 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 757.960374 meters looking forward 0.000000 meters along route # Maximum depth: 757.960374 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.960374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.960073; longitude = -119.063442; captureRadius = 10; duration = 56; initialDepth = 720.654617; finalDepth = 717.960374; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:717.960374 # Seafloor depth:-757.960374 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 760.654617 meters looking forward 0.000000 meters along route # Maximum depth: 760.654617 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.654617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.959635; longitude = -119.063225; captureRadius = 10; duration = 56; initialDepth = 721.503905; finalDepth = 720.654617; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:720.654617 # Seafloor depth:-760.654617 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 761.503905 meters looking forward 0.000000 meters along route # Maximum depth: 761.503905 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.503905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.959196; longitude = -119.063008; captureRadius = 10; duration = 56; initialDepth = 723.049935; finalDepth = 721.503905; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:721.503905 # Seafloor depth:-761.503905 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 763.049935 meters looking forward 0.000000 meters along route # Maximum depth: 763.049935 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.049935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.958757; longitude = -119.062791; captureRadius = 10; duration = 56; initialDepth = 724.776470; finalDepth = 723.049935; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:723.049935 # Seafloor depth:-763.049935 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 764.776470 meters looking forward 0.000000 meters along route # Maximum depth: 764.776470 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.776470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.958311; longitude = -119.062571; captureRadius = 10; duration = 56; initialDepth = 725.363834; finalDepth = 724.776470; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:724.77647 # Seafloor depth:-764.776470 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 765.363834 meters looking forward 0.000000 meters along route # Maximum depth: 765.363834 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.363834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.957880; longitude = -119.062358; captureRadius = 10; duration = 56; initialDepth = 720.757049; finalDepth = 725.363834; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:725.363834 # Seafloor depth:-765.363834 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 760.757049 meters looking forward 0.000000 meters along route # Maximum depth: 760.757049 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.757049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.957441; longitude = -119.062141; captureRadius = 10; duration = 56; initialDepth = 721.703588; finalDepth = 720.757049; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:720.757049 # Seafloor depth:-760.757049 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 761.703588 meters looking forward 0.000000 meters along route # Maximum depth: 761.703588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.703588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.957003; longitude = -119.061924; captureRadius = 10; duration = 56; initialDepth = 719.368591; finalDepth = 721.703588; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:721.703588 # Seafloor depth:-761.703588 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 759.368591 meters looking forward 0.000000 meters along route # Maximum depth: 759.368591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.368591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.956564; longitude = -119.061707; captureRadius = 10; duration = 56; initialDepth = 714.462915; finalDepth = 719.368591; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:719.368591 # Seafloor depth:-759.368591 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 754.462915 meters looking forward 0.000000 meters along route # Maximum depth: 754.462915 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.462915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.956125; longitude = -119.061490; captureRadius = 10; duration = 56; initialDepth = 712.815751; finalDepth = 714.462915; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:714.462915 # Seafloor depth:-754.462915 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 752.815751 meters looking forward 0.000000 meters along route # Maximum depth: 752.815751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.815751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.955687; longitude = -119.061274; captureRadius = 10; duration = 56; initialDepth = 712.559626; finalDepth = 712.815751; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:712.815751 # Seafloor depth:-752.815751 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 752.559626 meters looking forward 0.000000 meters along route # Maximum depth: 752.559626 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.559626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.955245; longitude = -119.061055; captureRadius = 10; duration = 56; initialDepth = 713.256809; finalDepth = 712.559626; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:712.559626 # Seafloor depth:-752.559626 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 753.256809 meters looking forward 0.000000 meters along route # Maximum depth: 753.256809 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.256809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.954704; longitude = -119.060788; captureRadius = 10; duration = 56; initialDepth = 714.310272; finalDepth = 713.256809; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.256809 # Seafloor depth:-753.256809 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 754.310272 meters looking forward 0.000000 meters along route # Maximum depth: 754.310272 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.310272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.954163; longitude = -119.060521; captureRadius = 10; duration = 56; initialDepth = 714.925781; finalDepth = 714.310272; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:714.310272 # Seafloor depth:-754.310272 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 56.463859 meters # Minimum depth: 754.925781 meters looking forward 0.000000 meters along route # Maximum depth: 754.925781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.925781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.953622; longitude = -119.060253; captureRadius = 10; duration = 56; initialDepth = 715.184570; finalDepth = 714.925781; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:714.925781 # Seafloor depth:-754.925781 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 74 # Segment length 56.463859 meters # Minimum depth: 755.184570 meters looking forward 0.000000 meters along route # Maximum depth: 755.184570 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.184570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.953201; longitude = -119.060045; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 715.076571; finalDepth = 715.184570; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:715.18457 # Seafloor depth:-755.184570 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 56.463859 meters # Minimum depth: 755.076571 meters looking forward 0.000000 meters along route # Maximum depth: 755.076571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.076571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.953442; longitude = -119.060541; captureRadius = 10; duration = 56; initialDepth = 715.073312; finalDepth = 715.076571; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:715.076571 # Seafloor depth:-755.076571 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 56.463859 meters # Minimum depth: 755.073312 meters looking forward 0.000000 meters along route # Maximum depth: 755.073312 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.073312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.953692; longitude = -119.061057; captureRadius = 10; duration = 56; initialDepth = 715.425803; finalDepth = 715.073312; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:715.073312 # Seafloor depth:-755.073312 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 56.463859 meters # Minimum depth: 755.425803 meters looking forward 0.000000 meters along route # Maximum depth: 755.425803 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.425803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.953983; longitude = -119.061656; captureRadius = 10; duration = 56; initialDepth = 716.008719; finalDepth = 715.425803; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:715.425803 # Seafloor depth:-755.425803 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 56.463859 meters # Minimum depth: 756.008719 meters looking forward 0.000000 meters along route # Maximum depth: 756.008719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.008719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.954218; longitude = -119.062141; captureRadius = 10; duration = 56; initialDepth = 716.749023; finalDepth = 716.008719; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:716.008719 # Seafloor depth:-756.008719 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 73 # Segment length 56.463859 meters # Minimum depth: 756.749023 meters looking forward 0.000000 meters along route # Maximum depth: 756.749023 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.749023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.954464; longitude = -119.062647; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 717.399636; finalDepth = 716.749023; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:716.749023 # Seafloor depth:-756.749023 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 757.399636 meters looking forward 0.000000 meters along route # Maximum depth: 757.399636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.399636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.954754; longitude = -119.062791; captureRadius = 10; duration = 56; initialDepth = 718.743174; finalDepth = 717.399636; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:717.399636 # Seafloor depth:-757.399636 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 758.743174 meters looking forward 0.000000 meters along route # Maximum depth: 758.743174 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.743174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.955190; longitude = -119.063008; captureRadius = 10; duration = 56; initialDepth = 719.887527; finalDepth = 718.743174; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:718.743174 # Seafloor depth:-758.743174 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 759.887527 meters looking forward 0.000000 meters along route # Maximum depth: 759.887527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.887527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.955626; longitude = -119.063225; captureRadius = 10; duration = 56; initialDepth = 719.304631; finalDepth = 719.887527; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:719.887527 # Seafloor depth:-759.887527 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 759.304631 meters looking forward 0.000000 meters along route # Maximum depth: 759.304631 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.304631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.956061; longitude = -119.063442; captureRadius = 10; duration = 56; initialDepth = 718.394844; finalDepth = 719.304631; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:719.304631 # Seafloor depth:-759.304631 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 758.394844 meters looking forward 0.000000 meters along route # Maximum depth: 758.394844 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.394844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.956508; longitude = -119.063664; captureRadius = 10; duration = 56; initialDepth = 718.345235; finalDepth = 718.394844; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:718.394844 # Seafloor depth:-758.394844 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 758.345235 meters looking forward 0.000000 meters along route # Maximum depth: 758.345235 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.345235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.956933; longitude = -119.063875; captureRadius = 10; duration = 56; initialDepth = 717.202916; finalDepth = 718.345235; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:718.345235 # Seafloor depth:-758.345235 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 757.202916 meters looking forward 0.000000 meters along route # Maximum depth: 757.202916 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.202916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.957369; longitude = -119.064092; captureRadius = 10; duration = 56; initialDepth = 709.964840; finalDepth = 717.202916; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:717.202916 # Seafloor depth:-757.202916 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 749.964840 meters looking forward 0.000000 meters along route # Maximum depth: 749.964840 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.964840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.957805; longitude = -119.064309; captureRadius = 10; duration = 56; initialDepth = 719.062969; finalDepth = 709.964840; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.96484 # Seafloor depth:-749.964840 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 759.062969 meters looking forward 0.000000 meters along route # Maximum depth: 759.062969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.062969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.958241; longitude = -119.064526; captureRadius = 10; duration = 56; initialDepth = 718.136275; finalDepth = 719.062969; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:719.062969 # Seafloor depth:-759.062969 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 758.136275 meters looking forward 0.000000 meters along route # Maximum depth: 758.136275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.136275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.958677; longitude = -119.064742; captureRadius = 10; duration = 56; initialDepth = 719.771754; finalDepth = 718.136275; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:718.136275 # Seafloor depth:-758.136275 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 759.771754 meters looking forward 0.000000 meters along route # Maximum depth: 759.771754 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.771754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.959113; longitude = -119.064959; captureRadius = 10; duration = 56; initialDepth = 721.686936; finalDepth = 719.771754; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:719.771754 # Seafloor depth:-759.771754 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 761.686936 meters looking forward 0.000000 meters along route # Maximum depth: 761.686936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.686936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.959548; longitude = -119.065176; captureRadius = 10; duration = 56; initialDepth = 721.432694; finalDepth = 721.686936; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:721.686936 # Seafloor depth:-761.686936 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 761.432694 meters looking forward 0.000000 meters along route # Maximum depth: 761.432694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.432694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.959984; longitude = -119.065393; captureRadius = 10; duration = 56; initialDepth = 720.267000; finalDepth = 721.432694; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:721.432694 # Seafloor depth:-761.432694 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 760.267000 meters looking forward 0.000000 meters along route # Maximum depth: 760.267000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.267000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.960420; longitude = -119.065610; captureRadius = 10; duration = 56; initialDepth = 720.571653; finalDepth = 720.267000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:720.267 # Seafloor depth:-760.267000 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 760.571653 meters looking forward 0.000000 meters along route # Maximum depth: 760.571653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.571653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.960856; longitude = -119.065826; captureRadius = 10; duration = 56; initialDepth = 718.989248; finalDepth = 720.571653; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:720.571653 # Seafloor depth:-760.571653 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 758.989248 meters looking forward 0.000000 meters along route # Maximum depth: 758.989248 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.989248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.961292; longitude = -119.066043; captureRadius = 10; duration = 56; initialDepth = 718.171094; finalDepth = 718.989248; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:718.989248 # Seafloor depth:-758.989248 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 758.171094 meters looking forward 0.000000 meters along route # Maximum depth: 758.171094 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.171094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.961738; longitude = -119.066265; captureRadius = 10; duration = 56; initialDepth = 717.210794; finalDepth = 718.171094; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:718.171094 # Seafloor depth:-758.171094 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 757.210794 meters looking forward 0.000000 meters along route # Maximum depth: 757.210794 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.210794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.962164; longitude = -119.066477; captureRadius = 10; duration = 56; initialDepth = 716.042895; finalDepth = 717.210794; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:717.210794 # Seafloor depth:-757.210794 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 756.042895 meters looking forward 0.000000 meters along route # Maximum depth: 756.042895 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.042895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.962600; longitude = -119.066694; captureRadius = 10; duration = 56; initialDepth = 715.654314; finalDepth = 716.042895; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:716.042895 # Seafloor depth:-756.042895 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 755.654314 meters looking forward 0.000000 meters along route # Maximum depth: 755.654314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.654314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.963036; longitude = -119.066910; captureRadius = 10; duration = 56; initialDepth = 713.655353; finalDepth = 715.654314; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:715.654314 # Seafloor depth:-755.654314 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 753.655353 meters looking forward 0.000000 meters along route # Maximum depth: 753.655353 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.655353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.963471; longitude = -119.067127; captureRadius = 10; duration = 56; initialDepth = 713.021958; finalDepth = 713.655353; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.655353 # Seafloor depth:-753.655353 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 753.021958 meters looking forward 0.000000 meters along route # Maximum depth: 753.021958 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.021958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.963907; longitude = -119.067344; captureRadius = 10; duration = 56; initialDepth = 711.627776; finalDepth = 713.021958; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.021958 # Seafloor depth:-753.021958 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 751.627776 meters looking forward 0.000000 meters along route # Maximum depth: 751.627776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.627776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.964343; longitude = -119.067561; captureRadius = 10; duration = 56; initialDepth = 709.450895; finalDepth = 711.627776; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:711.627776 # Seafloor depth:-751.627776 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 749.450895 meters looking forward 0.000000 meters along route # Maximum depth: 749.450895 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.450895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.964779; longitude = -119.067778; captureRadius = 10; duration = 56; initialDepth = 708.223934; finalDepth = 709.450895; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.450895 # Seafloor depth:-749.450895 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 748.223934 meters looking forward 0.000000 meters along route # Maximum depth: 748.223934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.223934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.965215; longitude = -119.067994; captureRadius = 10; duration = 56; initialDepth = 707.999170; finalDepth = 708.223934; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:708.223934 # Seafloor depth:-748.223934 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 747.999170 meters looking forward 0.000000 meters along route # Maximum depth: 747.999170 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.999170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.965651; longitude = -119.068211; captureRadius = 10; duration = 56; initialDepth = 710.723941; finalDepth = 707.999170; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:707.99917 # Seafloor depth:-747.999170 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 750.723941 meters looking forward 0.000000 meters along route # Maximum depth: 750.723941 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.723941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.966087; longitude = -119.068428; captureRadius = 10; duration = 56; initialDepth = 711.816113; finalDepth = 710.723941; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.723941 # Seafloor depth:-750.723941 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 751.816113 meters looking forward 0.000000 meters along route # Maximum depth: 751.816113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.816113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.966523; longitude = -119.068645; captureRadius = 10; duration = 56; initialDepth = 713.659923; finalDepth = 711.816113; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:711.816113 # Seafloor depth:-751.816113 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 753.659923 meters looking forward 0.000000 meters along route # Maximum depth: 753.659923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.659923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.966968; longitude = -119.068866; captureRadius = 10; duration = 56; initialDepth = 713.763232; finalDepth = 713.659923; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.659923 # Seafloor depth:-753.659923 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 753.763232 meters looking forward 0.000000 meters along route # Maximum depth: 753.763232 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.763232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.967394; longitude = -119.069078; captureRadius = 10; duration = 56; initialDepth = 713.632989; finalDepth = 713.763232; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.763232 # Seafloor depth:-753.763232 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 753.632989 meters looking forward 0.000000 meters along route # Maximum depth: 753.632989 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.632989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.967830; longitude = -119.069295; captureRadius = 10; duration = 56; initialDepth = 713.384159; finalDepth = 713.632989; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.632989 # Seafloor depth:-753.632989 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 753.384159 meters looking forward 0.000000 meters along route # Maximum depth: 753.384159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.384159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.968266; longitude = -119.069512; captureRadius = 10; duration = 56; initialDepth = 714.466257; finalDepth = 713.384159; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.384159 # Seafloor depth:-753.384159 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 754.466257 meters looking forward 0.000000 meters along route # Maximum depth: 754.466257 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.466257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.968702; longitude = -119.069729; captureRadius = 10; duration = 56; initialDepth = 713.937846; finalDepth = 714.466257; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:714.466257 # Seafloor depth:-754.466257 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 753.937846 meters looking forward 0.000000 meters along route # Maximum depth: 753.937846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.937846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.969138; longitude = -119.069946; captureRadius = 10; duration = 56; initialDepth = 713.882489; finalDepth = 713.937846; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.937846 # Seafloor depth:-753.937846 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 56.463859 meters # Minimum depth: 753.882489 meters looking forward 0.000000 meters along route # Maximum depth: 753.882489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.882489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.969673; longitude = -119.070212; captureRadius = 10; duration = 56; initialDepth = 713.316406; finalDepth = 713.882489; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.882489 # Seafloor depth:-753.882489 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 72 # Segment length 56.463859 meters # Minimum depth: 753.316406 meters looking forward 0.000000 meters along route # Maximum depth: 753.316406 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.316406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.970154; longitude = -119.070451; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 713.759656; finalDepth = 713.316406; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.316406 # Seafloor depth:-753.316406 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 56.463859 meters # Minimum depth: 753.759656 meters looking forward 0.000000 meters along route # Maximum depth: 753.759656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.759656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.970214; longitude = -119.070454; captureRadius = 10; duration = 56; initialDepth = 713.945737; finalDepth = 713.759656; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.759656 # Seafloor depth:-753.759656 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 56.463859 meters # Minimum depth: 753.945737 meters looking forward 0.000000 meters along route # Maximum depth: 753.945737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.945737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.970755; longitude = -119.070484; captureRadius = 10; duration = 56; initialDepth = 713.520529; finalDepth = 713.945737; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.945737 # Seafloor depth:-753.945737 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 56.463859 meters # Minimum depth: 753.520529 meters looking forward 0.000000 meters along route # Maximum depth: 753.520529 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.520529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.971296; longitude = -119.070513; captureRadius = 10; duration = 56; initialDepth = 710.374592; finalDepth = 713.520529; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.520529 # Seafloor depth:-753.520529 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 56.463859 meters # Minimum depth: 750.374592 meters looking forward 0.000000 meters along route # Maximum depth: 750.374592 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.374592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.971837; longitude = -119.070543; captureRadius = 10; duration = 56; initialDepth = 710.280740; finalDepth = 710.374592; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.374592 # Seafloor depth:-750.374592 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 56.463859 meters # Minimum depth: 750.280740 meters looking forward 0.000000 meters along route # Maximum depth: 750.280740 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.280740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.972378; longitude = -119.070573; captureRadius = 10; duration = 56; initialDepth = 711.254887; finalDepth = 710.280740; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.28074 # Seafloor depth:-750.280740 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 56.463859 meters # Minimum depth: 751.254887 meters looking forward 0.000000 meters along route # Maximum depth: 751.254887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.254887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.972919; longitude = -119.070602; captureRadius = 10; duration = 56; initialDepth = 709.383019; finalDepth = 711.254887; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:711.254887 # Seafloor depth:-751.254887 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 56.463859 meters # Minimum depth: 749.383019 meters looking forward 0.000000 meters along route # Maximum depth: 749.383019 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.383019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.973460; longitude = -119.070632; captureRadius = 10; duration = 56; initialDepth = 707.553680; finalDepth = 709.383019; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.383019 # Seafloor depth:-749.383019 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 56.463859 meters # Minimum depth: 747.553680 meters looking forward 0.000000 meters along route # Maximum depth: 747.553680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.553680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974001; longitude = -119.070661; captureRadius = 10; duration = 56; initialDepth = 708.119680; finalDepth = 707.553680; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:707.55368 # Seafloor depth:-747.553680 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 56.463859 meters # Minimum depth: 748.119680 meters looking forward 0.000000 meters along route # Maximum depth: 748.119680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.119680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974542; longitude = -119.070691; captureRadius = 10; duration = 56; initialDepth = 708.171053; finalDepth = 708.119680; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:708.11968 # Seafloor depth:-748.119680 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 56.463859 meters # Minimum depth: 748.171053 meters looking forward 0.000000 meters along route # Maximum depth: 748.171053 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.171053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975083; longitude = -119.070721; captureRadius = 10; duration = 56; initialDepth = 707.110759; finalDepth = 708.171053; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:708.171053 # Seafloor depth:-748.171053 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 56.463859 meters # Minimum depth: 747.110759 meters looking forward 0.000000 meters along route # Maximum depth: 747.110759 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.110759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975624; longitude = -119.070750; captureRadius = 10; duration = 56; initialDepth = 706.194640; finalDepth = 707.110759; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:707.110759 # Seafloor depth:-747.110759 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 56.463859 meters # Minimum depth: 746.194640 meters looking forward 0.000000 meters along route # Maximum depth: 746.194640 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.194640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976165; longitude = -119.070780; captureRadius = 10; duration = 56; initialDepth = 706.822210; finalDepth = 706.194640; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.19464 # Seafloor depth:-746.194640 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 56.463859 meters # Minimum depth: 746.822210 meters looking forward 0.000000 meters along route # Maximum depth: 746.822210 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.822210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976768; longitude = -119.070813; captureRadius = 10; duration = 56; initialDepth = 705.840068; finalDepth = 706.822210; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.82221 # Seafloor depth:-746.822210 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 56.463859 meters # Minimum depth: 745.840068 meters looking forward 0.000000 meters along route # Maximum depth: 745.840068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.840068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977247; longitude = -119.070839; captureRadius = 10; duration = 56; initialDepth = 706.134037; finalDepth = 705.840068; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.840068 # Seafloor depth:-745.840068 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 56.463859 meters # Minimum depth: 746.134037 meters looking forward 0.000000 meters along route # Maximum depth: 746.134037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.134037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977788; longitude = -119.070869; captureRadius = 10; duration = 56; initialDepth = 704.731155; finalDepth = 706.134037; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.134037 # Seafloor depth:-746.134037 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 56.463859 meters # Minimum depth: 744.731155 meters looking forward 0.000000 meters along route # Maximum depth: 744.731155 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.731155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.978329; longitude = -119.070898; captureRadius = 10; duration = 56; initialDepth = 703.124447; finalDepth = 704.731155; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:704.731155 # Seafloor depth:-744.731155 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 56.463859 meters # Minimum depth: 743.124447 meters looking forward 0.000000 meters along route # Maximum depth: 743.124447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.124447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.978870; longitude = -119.070928; captureRadius = 10; duration = 56; initialDepth = 701.709430; finalDepth = 703.124447; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.124447 # Seafloor depth:-743.124447 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 56.463859 meters # Minimum depth: 741.709430 meters looking forward 0.000000 meters along route # Maximum depth: 741.709430 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.709430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.979412; longitude = -119.070957; captureRadius = 10; duration = 56; initialDepth = 697.516520; finalDepth = 701.709430; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:701.70943 # Seafloor depth:-741.709430 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 56.463859 meters # Minimum depth: 737.516520 meters looking forward 0.000000 meters along route # Maximum depth: 737.516520 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.516520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.979953; longitude = -119.070987; captureRadius = 10; duration = 56; initialDepth = 694.202732; finalDepth = 697.516520; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:697.51652 # Seafloor depth:-737.516520 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 56.463859 meters # Minimum depth: 734.202732 meters looking forward 0.000000 meters along route # Maximum depth: 734.202732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.202732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.980494; longitude = -119.071016; captureRadius = 10; duration = 56; initialDepth = 688.567755; finalDepth = 694.202732; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.202732 # Seafloor depth:-734.202732 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 56.463859 meters # Minimum depth: 728.567755 meters looking forward 0.000000 meters along route # Maximum depth: 728.567755 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.567755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.981035; longitude = -119.071046; captureRadius = 10; duration = 56; initialDepth = 683.294394; finalDepth = 688.567755; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.567755 # Seafloor depth:-728.567755 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 56.463859 meters # Minimum depth: 723.294394 meters looking forward 0.000000 meters along route # Maximum depth: 723.294394 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.294394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.981576; longitude = -119.071076; captureRadius = 10; duration = 56; initialDepth = 680.067368; finalDepth = 683.294394; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:683.294394 # Seafloor depth:-723.294394 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 71 # Segment length 56.463859 meters # Minimum depth: 720.067368 meters looking forward 0.000000 meters along route # Maximum depth: 720.067368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.067368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.982057; longitude = -119.071102; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 679.995754; finalDepth = 680.067368; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:680.067368 # Seafloor depth:-720.067368 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 56.463859 meters # Minimum depth: 719.995754 meters looking forward 0.000000 meters along route # Maximum depth: 719.995754 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.995754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.982117; longitude = -119.071152; captureRadius = 10; duration = 56; initialDepth = 681.846066; finalDepth = 679.995754; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:679.995754 # Seafloor depth:-719.995754 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 56.463859 meters # Minimum depth: 721.846066 meters looking forward 0.000000 meters along route # Maximum depth: 721.846066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.846066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.982489; longitude = -119.071463; captureRadius = 10; duration = 56; initialDepth = 690.091575; finalDepth = 681.846066; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:681.846066 # Seafloor depth:-721.846066 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 56.463859 meters # Minimum depth: 730.091575 meters looking forward 0.000000 meters along route # Maximum depth: 730.091575 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.091575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.983018; longitude = -119.071906; captureRadius = 10; duration = 56; initialDepth = 689.531982; finalDepth = 690.091575; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:690.091575 # Seafloor depth:-730.091575 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 70 # Segment length 56.463859 meters # Minimum depth: 729.531982 meters looking forward 0.000000 meters along route # Maximum depth: 729.531982 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.531982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.983439; longitude = -119.072258; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 690.499431; finalDepth = 689.531982; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:689.531982 # Seafloor depth:-729.531982 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 56.463859 meters # Minimum depth: 730.499431 meters looking forward 0.000000 meters along route # Maximum depth: 730.499431 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.499431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.983456; longitude = -119.072330; captureRadius = 10; duration = 56; initialDepth = 689.072237; finalDepth = 690.499431; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:690.499431 # Seafloor depth:-730.499431 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 56.463859 meters # Minimum depth: 729.072237 meters looking forward 0.000000 meters along route # Maximum depth: 729.072237 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.072237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.983604; longitude = -119.072981; captureRadius = 10; duration = 56; initialDepth = 693.849686; finalDepth = 689.072237; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:689.072237 # Seafloor depth:-729.072237 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 56.463859 meters # Minimum depth: 733.849686 meters looking forward 0.000000 meters along route # Maximum depth: 733.849686 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.849686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.983753; longitude = -119.073631; captureRadius = 10; duration = 56; initialDepth = 695.522845; finalDepth = 693.849686; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:693.849686 # Seafloor depth:-733.849686 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 56.463859 meters # Minimum depth: 735.522845 meters looking forward 0.000000 meters along route # Maximum depth: 735.522845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.522845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.983920; longitude = -119.074360; captureRadius = 10; duration = 56; initialDepth = 688.749498; finalDepth = 695.522845; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:695.522845 # Seafloor depth:-735.522845 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 56.463859 meters # Minimum depth: 728.749498 meters looking forward 0.000000 meters along route # Maximum depth: 728.749498 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.749498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.984051; longitude = -119.074932; captureRadius = 10; duration = 56; initialDepth = 683.015871; finalDepth = 688.749498; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.749498 # Seafloor depth:-728.749498 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 56.463859 meters # Minimum depth: 723.015871 meters looking forward 0.000000 meters along route # Maximum depth: 723.015871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.015871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.984200; longitude = -119.075582; captureRadius = 10; duration = 56; initialDepth = 673.249343; finalDepth = 683.015871; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:683.015871 # Seafloor depth:-723.015871 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 56.463859 meters # Minimum depth: 713.249343 meters looking forward 0.000000 meters along route # Maximum depth: 713.249343 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.249343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.984349; longitude = -119.076233; captureRadius = 10; duration = 56; initialDepth = 669.755434; finalDepth = 673.249343; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:673.249343 # Seafloor depth:-713.249343 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 56.463859 meters # Minimum depth: 709.755434 meters looking forward 0.000000 meters along route # Maximum depth: 709.755434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 669.755434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.984497; longitude = -119.076883; captureRadius = 10; duration = 56; initialDepth = 657.132610; finalDepth = 669.755434; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:669.755434 # Seafloor depth:-709.755434 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 56.463859 meters # Minimum depth: 697.132610 meters looking forward 0.000000 meters along route # Maximum depth: 697.132610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 657.132610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.984641; longitude = -119.077512; captureRadius = 10; duration = 56; initialDepth = 654.404541; finalDepth = 657.132610; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:657.13261 # Seafloor depth:-697.132610 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 69 # Segment length 56.463859 meters # Minimum depth: 694.404541 meters looking forward 0.000000 meters along route # Maximum depth: 694.404541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 654.404541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.984762; longitude = -119.078039; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 653.512096; finalDepth = 654.404541; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:654.404541 # Seafloor depth:-694.404541 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 56.463859 meters # Minimum depth: 693.512096 meters looking forward 0.000000 meters along route # Maximum depth: 693.512096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.512096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.985183; longitude = -119.078023; captureRadius = 10; duration = 56; initialDepth = 649.521110; finalDepth = 653.512096; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:653.512096 # Seafloor depth:-693.512096 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 56.463859 meters # Minimum depth: 689.521110 meters looking forward 0.000000 meters along route # Maximum depth: 689.521110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.521110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.985724; longitude = -119.078002; captureRadius = 10; duration = 56; initialDepth = 645.769786; finalDepth = 649.521110; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:649.52111 # Seafloor depth:-689.521110 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 56.463859 meters # Minimum depth: 685.769786 meters looking forward 0.000000 meters along route # Maximum depth: 685.769786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 645.769786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.986265; longitude = -119.077981; captureRadius = 10; duration = 56; initialDepth = 644.854019; finalDepth = 645.769786; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:645.769786 # Seafloor depth:-685.769786 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 56.463859 meters # Minimum depth: 684.854019 meters looking forward 0.000000 meters along route # Maximum depth: 684.854019 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.854019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.986806; longitude = -119.077960; captureRadius = 10; duration = 56; initialDepth = 643.086826; finalDepth = 644.854019; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:644.854019 # Seafloor depth:-684.854019 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 56.463859 meters # Minimum depth: 683.086826 meters looking forward 0.000000 meters along route # Maximum depth: 683.086826 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 643.086826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.987347; longitude = -119.077939; captureRadius = 10; duration = 56; initialDepth = 642.395855; finalDepth = 643.086826; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:643.086826 # Seafloor depth:-683.086826 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 56.463859 meters # Minimum depth: 682.395855 meters looking forward 0.000000 meters along route # Maximum depth: 682.395855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.395855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.987888; longitude = -119.077918; captureRadius = 10; duration = 56; initialDepth = 641.193832; finalDepth = 642.395855; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:642.395855 # Seafloor depth:-682.395855 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 68 # Segment length 56.463859 meters # Minimum depth: 681.193832 meters looking forward 0.000000 meters along route # Maximum depth: 681.193832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.193832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.988489; longitude = -119.077895; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 642.617379; finalDepth = 641.193832; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:641.193832 # Seafloor depth:-681.193832 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 56.463859 meters # Minimum depth: 682.617379 meters looking forward 0.000000 meters along route # Maximum depth: 682.617379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.617379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.988489; longitude = -119.077317; captureRadius = 10; duration = 56; initialDepth = 656.998435; finalDepth = 642.617379; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:642.617379 # Seafloor depth:-682.617379 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 56.463859 meters # Minimum depth: 696.998435 meters looking forward 0.000000 meters along route # Maximum depth: 696.998435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 656.998435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.988489; longitude = -119.076666; captureRadius = 10; duration = 56; initialDepth = 662.625012; finalDepth = 656.998435; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:656.998435 # Seafloor depth:-696.998435 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 56.463859 meters # Minimum depth: 702.625012 meters looking forward 0.000000 meters along route # Maximum depth: 702.625012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 662.625012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.988489; longitude = -119.076016; captureRadius = 10; duration = 56; initialDepth = 670.130681; finalDepth = 662.625012; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:662.625012 # Seafloor depth:-702.625012 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 56.463859 meters # Minimum depth: 710.130681 meters looking forward 0.000000 meters along route # Maximum depth: 710.130681 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 670.130681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.988489; longitude = -119.075366; captureRadius = 10; duration = 56; initialDepth = 677.367519; finalDepth = 670.130681; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:670.130681 # Seafloor depth:-710.130681 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 56.463859 meters # Minimum depth: 717.367519 meters looking forward 0.000000 meters along route # Maximum depth: 717.367519 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 677.367519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.988489; longitude = -119.074715; captureRadius = 10; duration = 56; initialDepth = 686.718643; finalDepth = 677.367519; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:677.367519 # Seafloor depth:-717.367519 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 67 # Segment length 56.463859 meters # Minimum depth: 726.718643 meters looking forward 0.000000 meters along route # Maximum depth: 726.718643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.718643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.988489; longitude = -119.073992; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 688.243442; finalDepth = 686.718643; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:686.718643 # Seafloor depth:-726.718643 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 56.463859 meters # Minimum depth: 728.243442 meters looking forward 0.000000 meters along route # Maximum depth: 728.243442 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.243442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.988068; longitude = -119.073811; captureRadius = 10; duration = 56; initialDepth = 687.975773; finalDepth = 688.243442; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.243442 # Seafloor depth:-728.243442 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 56.463859 meters # Minimum depth: 727.975773 meters looking forward 0.000000 meters along route # Maximum depth: 727.975773 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.975773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.987527; longitude = -119.073579; captureRadius = 10; duration = 56; initialDepth = 688.139344; finalDepth = 687.975773; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:687.975773 # Seafloor depth:-727.975773 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 56.463859 meters # Minimum depth: 728.139344 meters looking forward 0.000000 meters along route # Maximum depth: 728.139344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.139344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.986986; longitude = -119.073347; captureRadius = 10; duration = 56; initialDepth = 688.080247; finalDepth = 688.139344; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.139344 # Seafloor depth:-728.139344 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 56.463859 meters # Minimum depth: 728.080247 meters looking forward 0.000000 meters along route # Maximum depth: 728.080247 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.080247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.986445; longitude = -119.073114; captureRadius = 10; duration = 56; initialDepth = 682.179214; finalDepth = 688.080247; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.080247 # Seafloor depth:-728.080247 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 66 # Segment length 56.463859 meters # Minimum depth: 722.179214 meters looking forward 0.000000 meters along route # Maximum depth: 722.179214 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.179214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.985964; longitude = -119.072908; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 682.508982; finalDepth = 682.179214; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:682.179214 # Seafloor depth:-722.179214 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 56.463859 meters # Minimum depth: 722.508982 meters looking forward 0.000000 meters along route # Maximum depth: 722.508982 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.508982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.985904; longitude = -119.072906; captureRadius = 10; duration = 56; initialDepth = 685.392043; finalDepth = 682.508982; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:682.508982 # Seafloor depth:-722.508982 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 56.463859 meters # Minimum depth: 725.392043 meters looking forward 0.000000 meters along route # Maximum depth: 725.392043 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.392043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.985363; longitude = -119.072884; captureRadius = 10; duration = 56; initialDepth = 686.042467; finalDepth = 685.392043; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:685.392043 # Seafloor depth:-725.392043 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 56.463859 meters # Minimum depth: 726.042467 meters looking forward 0.000000 meters along route # Maximum depth: 726.042467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.042467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.984822; longitude = -119.072862; captureRadius = 10; duration = 56; initialDepth = 687.638033; finalDepth = 686.042467; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:686.042467 # Seafloor depth:-726.042467 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 56.463859 meters # Minimum depth: 727.638033 meters looking forward 0.000000 meters along route # Maximum depth: 727.638033 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.638033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.984281; longitude = -119.072841; captureRadius = 10; duration = 56; initialDepth = 688.985677; finalDepth = 687.638033; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:687.638033 # Seafloor depth:-727.638033 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 56.463859 meters # Minimum depth: 728.985677 meters looking forward 0.000000 meters along route # Maximum depth: 728.985677 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.985677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.983740; longitude = -119.072819; captureRadius = 10; duration = 56; initialDepth = 691.131349; finalDepth = 688.985677; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.985677 # Seafloor depth:-728.985677 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 56.463859 meters # Minimum depth: 731.131349 meters looking forward 0.000000 meters along route # Maximum depth: 731.131349 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.131349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.983199; longitude = -119.072797; captureRadius = 10; duration = 56; initialDepth = 693.375920; finalDepth = 691.131349; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:691.131349 # Seafloor depth:-731.131349 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 56.463859 meters # Minimum depth: 733.375920 meters looking forward 0.000000 meters along route # Maximum depth: 733.375920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.375920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.982658; longitude = -119.072776; captureRadius = 10; duration = 56; initialDepth = 697.273561; finalDepth = 693.375920; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:693.37592 # Seafloor depth:-733.375920 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 56.463859 meters # Minimum depth: 737.273561 meters looking forward 0.000000 meters along route # Maximum depth: 737.273561 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.273561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.982117; longitude = -119.072754; captureRadius = 10; duration = 56; initialDepth = 699.188644; finalDepth = 697.273561; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:697.273561 # Seafloor depth:-737.273561 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 56.463859 meters # Minimum depth: 739.188644 meters looking forward 0.000000 meters along route # Maximum depth: 739.188644 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.188644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.981576; longitude = -119.072732; captureRadius = 10; duration = 56; initialDepth = 699.141981; finalDepth = 699.188644; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:699.188644 # Seafloor depth:-739.188644 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 56.463859 meters # Minimum depth: 739.141981 meters looking forward 0.000000 meters along route # Maximum depth: 739.141981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.141981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.981035; longitude = -119.072711; captureRadius = 10; duration = 56; initialDepth = 700.830716; finalDepth = 699.141981; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:699.141981 # Seafloor depth:-739.141981 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 56.463859 meters # Minimum depth: 740.830716 meters looking forward 0.000000 meters along route # Maximum depth: 740.830716 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.830716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.980494; longitude = -119.072689; captureRadius = 10; duration = 56; initialDepth = 698.971042; finalDepth = 700.830716; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:700.830716 # Seafloor depth:-740.830716 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 56.463859 meters # Minimum depth: 738.971042 meters looking forward 0.000000 meters along route # Maximum depth: 738.971042 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.971042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.979953; longitude = -119.072667; captureRadius = 10; duration = 56; initialDepth = 696.084414; finalDepth = 698.971042; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.971042 # Seafloor depth:-738.971042 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 56.463859 meters # Minimum depth: 736.084414 meters looking forward 0.000000 meters along route # Maximum depth: 736.084414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.084414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.979412; longitude = -119.072646; captureRadius = 10; duration = 56; initialDepth = 694.596547; finalDepth = 696.084414; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:696.084414 # Seafloor depth:-736.084414 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 56.463859 meters # Minimum depth: 734.596547 meters looking forward 0.000000 meters along route # Maximum depth: 734.596547 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.596547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.978870; longitude = -119.072624; captureRadius = 10; duration = 56; initialDepth = 694.586369; finalDepth = 694.596547; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.596547 # Seafloor depth:-734.596547 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 56.463859 meters # Minimum depth: 734.586369 meters looking forward 0.000000 meters along route # Maximum depth: 734.586369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.586369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.978329; longitude = -119.072602; captureRadius = 10; duration = 56; initialDepth = 694.702131; finalDepth = 694.586369; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.586369 # Seafloor depth:-734.586369 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 56.463859 meters # Minimum depth: 734.702131 meters looking forward 0.000000 meters along route # Maximum depth: 734.702131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.702131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977788; longitude = -119.072581; captureRadius = 10; duration = 56; initialDepth = 696.865424; finalDepth = 694.702131; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.702131 # Seafloor depth:-734.702131 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 56.463859 meters # Minimum depth: 736.865424 meters looking forward 0.000000 meters along route # Maximum depth: 736.865424 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.865424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977247; longitude = -119.072559; captureRadius = 10; duration = 56; initialDepth = 697.747902; finalDepth = 696.865424; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:696.865424 # Seafloor depth:-736.865424 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 56.463859 meters # Minimum depth: 737.747902 meters looking forward 0.000000 meters along route # Maximum depth: 737.747902 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.747902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976706; longitude = -119.072537; captureRadius = 10; duration = 56; initialDepth = 698.697279; finalDepth = 697.747902; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:697.747902 # Seafloor depth:-737.747902 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 56.463859 meters # Minimum depth: 738.697279 meters looking forward 0.000000 meters along route # Maximum depth: 738.697279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.697279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976165; longitude = -119.072516; captureRadius = 10; duration = 56; initialDepth = 699.219061; finalDepth = 698.697279; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.697279 # Seafloor depth:-738.697279 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 56.463859 meters # Minimum depth: 739.219061 meters looking forward 0.000000 meters along route # Maximum depth: 739.219061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.219061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975624; longitude = -119.072494; captureRadius = 10; duration = 56; initialDepth = 701.188514; finalDepth = 699.219061; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:699.219061 # Seafloor depth:-739.219061 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 56.463859 meters # Minimum depth: 741.188514 meters looking forward 0.000000 meters along route # Maximum depth: 741.188514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.188514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975083; longitude = -119.072472; captureRadius = 10; duration = 56; initialDepth = 701.929746; finalDepth = 701.188514; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:701.188514 # Seafloor depth:-741.188514 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 56.463859 meters # Minimum depth: 741.929746 meters looking forward 0.000000 meters along route # Maximum depth: 741.929746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.929746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974542; longitude = -119.072451; captureRadius = 10; duration = 56; initialDepth = 702.918655; finalDepth = 701.929746; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:701.929746 # Seafloor depth:-741.929746 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 56.463859 meters # Minimum depth: 742.918655 meters looking forward 0.000000 meters along route # Maximum depth: 742.918655 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.918655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974001; longitude = -119.072429; captureRadius = 10; duration = 56; initialDepth = 703.184893; finalDepth = 702.918655; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:702.918655 # Seafloor depth:-742.918655 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 56.463859 meters # Minimum depth: 743.184893 meters looking forward 0.000000 meters along route # Maximum depth: 743.184893 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.184893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.973460; longitude = -119.072407; captureRadius = 10; duration = 56; initialDepth = 703.305251; finalDepth = 703.184893; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.184893 # Seafloor depth:-743.184893 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 56.463859 meters # Minimum depth: 743.305251 meters looking forward 0.000000 meters along route # Maximum depth: 743.305251 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.305251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.972919; longitude = -119.072386; captureRadius = 10; duration = 56; initialDepth = 701.640527; finalDepth = 703.305251; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.305251 # Seafloor depth:-743.305251 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 56.463859 meters # Minimum depth: 741.640527 meters looking forward 0.000000 meters along route # Maximum depth: 741.640527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.640527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.972378; longitude = -119.072364; captureRadius = 10; duration = 56; initialDepth = 702.619927; finalDepth = 701.640527; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:701.640527 # Seafloor depth:-741.640527 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 56.463859 meters # Minimum depth: 742.619927 meters looking forward 0.000000 meters along route # Maximum depth: 742.619927 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.619927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.971837; longitude = -119.072342; captureRadius = 10; duration = 56; initialDepth = 701.728531; finalDepth = 702.619927; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:702.619927 # Seafloor depth:-742.619927 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 56.463859 meters # Minimum depth: 741.728531 meters looking forward 0.000000 meters along route # Maximum depth: 741.728531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.728531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.971296; longitude = -119.072321; captureRadius = 10; duration = 56; initialDepth = 699.496874; finalDepth = 701.728531; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:701.728531 # Seafloor depth:-741.728531 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 56.463859 meters # Minimum depth: 739.496874 meters looking forward 0.000000 meters along route # Maximum depth: 739.496874 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.496874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.970755; longitude = -119.072299; captureRadius = 10; duration = 56; initialDepth = 698.533210; finalDepth = 699.496874; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:699.496874 # Seafloor depth:-739.496874 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 56.463859 meters # Minimum depth: 738.533210 meters looking forward 0.000000 meters along route # Maximum depth: 738.533210 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.533210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.970214; longitude = -119.072277; captureRadius = 10; duration = 56; initialDepth = 699.883850; finalDepth = 698.533210; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.53321 # Seafloor depth:-738.533210 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 65 # Segment length 56.463859 meters # Minimum depth: 739.883850 meters looking forward 0.000000 meters along route # Maximum depth: 739.883850 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.883850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.969733; longitude = -119.072258; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 698.187608; finalDepth = 699.883850; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:699.88385 # Seafloor depth:-739.883850 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 56.463859 meters # Minimum depth: 738.187608 meters looking forward 0.000000 meters along route # Maximum depth: 738.187608 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.187608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.969449; longitude = -119.072114; captureRadius = 10; duration = 56; initialDepth = 698.929315; finalDepth = 698.187608; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.187608 # Seafloor depth:-738.187608 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 56.463859 meters # Minimum depth: 738.929315 meters looking forward 0.000000 meters along route # Maximum depth: 738.929315 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.929315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.969023; longitude = -119.071897; captureRadius = 10; duration = 56; initialDepth = 700.050500; finalDepth = 698.929315; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.929315 # Seafloor depth:-738.929315 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 56.463859 meters # Minimum depth: 740.050500 meters looking forward 0.000000 meters along route # Maximum depth: 740.050500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.050500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.968591; longitude = -119.071677; captureRadius = 10; duration = 56; initialDepth = 700.602755; finalDepth = 700.050500; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:700.0505 # Seafloor depth:-740.050500 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 56.463859 meters # Minimum depth: 740.602755 meters looking forward 0.000000 meters along route # Maximum depth: 740.602755 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.602755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.968170; longitude = -119.071463; captureRadius = 10; duration = 56; initialDepth = 699.131508; finalDepth = 700.602755; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:700.602755 # Seafloor depth:-740.602755 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 56.463859 meters # Minimum depth: 739.131508 meters looking forward 0.000000 meters along route # Maximum depth: 739.131508 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.131508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.967744; longitude = -119.071246; captureRadius = 10; duration = 56; initialDepth = 699.389024; finalDepth = 699.131508; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:699.131508 # Seafloor depth:-739.131508 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 56.463859 meters # Minimum depth: 739.389024 meters looking forward 0.000000 meters along route # Maximum depth: 739.389024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.389024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.967317; longitude = -119.071030; captureRadius = 10; duration = 56; initialDepth = 700.330979; finalDepth = 699.389024; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:699.389024 # Seafloor depth:-739.389024 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 56.463859 meters # Minimum depth: 740.330979 meters looking forward 0.000000 meters along route # Maximum depth: 740.330979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.330979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.966891; longitude = -119.070813; captureRadius = 10; duration = 56; initialDepth = 700.922296; finalDepth = 700.330979; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:700.330979 # Seafloor depth:-740.330979 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 56.463859 meters # Minimum depth: 740.922296 meters looking forward 0.000000 meters along route # Maximum depth: 740.922296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.922296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.966465; longitude = -119.070596; captureRadius = 10; duration = 56; initialDepth = 701.292855; finalDepth = 700.922296; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:700.922296 # Seafloor depth:-740.922296 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 56.463859 meters # Minimum depth: 741.292855 meters looking forward 0.000000 meters along route # Maximum depth: 741.292855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.292855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.966039; longitude = -119.070379; captureRadius = 10; duration = 56; initialDepth = 701.885323; finalDepth = 701.292855; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:701.292855 # Seafloor depth:-741.292855 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 56.463859 meters # Minimum depth: 741.885323 meters looking forward 0.000000 meters along route # Maximum depth: 741.885323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.885323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.965612; longitude = -119.070162; captureRadius = 10; duration = 56; initialDepth = 702.227881; finalDepth = 701.885323; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:701.885323 # Seafloor depth:-741.885323 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 56.463859 meters # Minimum depth: 742.227881 meters looking forward 0.000000 meters along route # Maximum depth: 742.227881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.227881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.965186; longitude = -119.069946; captureRadius = 10; duration = 56; initialDepth = 703.117156; finalDepth = 702.227881; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:702.227881 # Seafloor depth:-742.227881 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 56.463859 meters # Minimum depth: 743.117156 meters looking forward 0.000000 meters along route # Maximum depth: 743.117156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.117156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.964760; longitude = -119.069729; captureRadius = 10; duration = 56; initialDepth = 704.333743; finalDepth = 703.117156; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.117156 # Seafloor depth:-743.117156 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 56.463859 meters # Minimum depth: 744.333743 meters looking forward 0.000000 meters along route # Maximum depth: 744.333743 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.333743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.964333; longitude = -119.069512; captureRadius = 10; duration = 56; initialDepth = 706.033361; finalDepth = 704.333743; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:704.333743 # Seafloor depth:-744.333743 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 56.463859 meters # Minimum depth: 746.033361 meters looking forward 0.000000 meters along route # Maximum depth: 746.033361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.033361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.963902; longitude = -119.069292; captureRadius = 10; duration = 56; initialDepth = 705.879470; finalDepth = 706.033361; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.033361 # Seafloor depth:-746.033361 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 56.463859 meters # Minimum depth: 745.879470 meters looking forward 0.000000 meters along route # Maximum depth: 745.879470 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.879470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.963481; longitude = -119.069078; captureRadius = 10; duration = 56; initialDepth = 705.878042; finalDepth = 705.879470; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.87947 # Seafloor depth:-745.879470 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 56.463859 meters # Minimum depth: 745.878042 meters looking forward 0.000000 meters along route # Maximum depth: 745.878042 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.878042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.963055; longitude = -119.068862; captureRadius = 10; duration = 56; initialDepth = 707.836980; finalDepth = 705.878042; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.878042 # Seafloor depth:-745.878042 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 56.463859 meters # Minimum depth: 747.836980 meters looking forward 0.000000 meters along route # Maximum depth: 747.836980 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.836980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.962628; longitude = -119.068645; captureRadius = 10; duration = 56; initialDepth = 707.901081; finalDepth = 707.836980; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:707.83698 # Seafloor depth:-747.836980 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 56.463859 meters # Minimum depth: 747.901081 meters looking forward 0.000000 meters along route # Maximum depth: 747.901081 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.901081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.962202; longitude = -119.068428; captureRadius = 10; duration = 56; initialDepth = 709.609481; finalDepth = 707.901081; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:707.901081 # Seafloor depth:-747.901081 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 56.463859 meters # Minimum depth: 749.609481 meters looking forward 0.000000 meters along route # Maximum depth: 749.609481 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.609481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.961776; longitude = -119.068211; captureRadius = 10; duration = 56; initialDepth = 708.963121; finalDepth = 709.609481; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.609481 # Seafloor depth:-749.609481 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 56.463859 meters # Minimum depth: 748.963121 meters looking forward 0.000000 meters along route # Maximum depth: 748.963121 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.963121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.961349; longitude = -119.067994; captureRadius = 10; duration = 56; initialDepth = 708.693995; finalDepth = 708.963121; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:708.963121 # Seafloor depth:-748.963121 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 56.463859 meters # Minimum depth: 748.693995 meters looking forward 0.000000 meters along route # Maximum depth: 748.693995 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.693995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.960923; longitude = -119.067778; captureRadius = 10; duration = 56; initialDepth = 708.956517; finalDepth = 708.693995; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:708.693995 # Seafloor depth:-748.693995 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 56.463859 meters # Minimum depth: 748.956517 meters looking forward 0.000000 meters along route # Maximum depth: 748.956517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.956517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.960497; longitude = -119.067561; captureRadius = 10; duration = 56; initialDepth = 710.524318; finalDepth = 708.956517; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:708.956517 # Seafloor depth:-748.956517 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 56.463859 meters # Minimum depth: 750.524318 meters looking forward 0.000000 meters along route # Maximum depth: 750.524318 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.524318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.960070; longitude = -119.067344; captureRadius = 10; duration = 56; initialDepth = 712.727330; finalDepth = 710.524318; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.524318 # Seafloor depth:-750.524318 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 56.463859 meters # Minimum depth: 752.727330 meters looking forward 0.000000 meters along route # Maximum depth: 752.727330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.727330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.959644; longitude = -119.067127; captureRadius = 10; duration = 56; initialDepth = 717.554260; finalDepth = 712.727330; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:712.72733 # Seafloor depth:-752.727330 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 56.463859 meters # Minimum depth: 757.554260 meters looking forward 0.000000 meters along route # Maximum depth: 757.554260 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.554260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.959213; longitude = -119.066908; captureRadius = 10; duration = 56; initialDepth = 720.806976; finalDepth = 717.554260; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:717.55426 # Seafloor depth:-757.554260 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 56.463859 meters # Minimum depth: 760.806976 meters looking forward 0.000000 meters along route # Maximum depth: 760.806976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.806976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.958792; longitude = -119.066694; captureRadius = 10; duration = 56; initialDepth = 719.387183; finalDepth = 720.806976; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:720.806976 # Seafloor depth:-760.806976 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 56.463859 meters # Minimum depth: 759.387183 meters looking forward 0.000000 meters along route # Maximum depth: 759.387183 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.387183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.958365; longitude = -119.066477; captureRadius = 10; duration = 56; initialDepth = 711.329865; finalDepth = 719.387183; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:719.387183 # Seafloor depth:-759.387183 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 56.463859 meters # Minimum depth: 751.329865 meters looking forward 0.000000 meters along route # Maximum depth: 751.329865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.329865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.957939; longitude = -119.066260; captureRadius = 10; duration = 56; initialDepth = 709.634066; finalDepth = 711.329865; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:711.329865 # Seafloor depth:-751.329865 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 56.463859 meters # Minimum depth: 749.634066 meters looking forward 0.000000 meters along route # Maximum depth: 749.634066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.634066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.957513; longitude = -119.066043; captureRadius = 10; duration = 56; initialDepth = 710.414979; finalDepth = 709.634066; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.634066 # Seafloor depth:-749.634066 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 56.463859 meters # Minimum depth: 750.414979 meters looking forward 0.000000 meters along route # Maximum depth: 750.414979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.414979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.957086; longitude = -119.065826; captureRadius = 10; duration = 56; initialDepth = 711.994678; finalDepth = 710.414979; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.414979 # Seafloor depth:-750.414979 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 56.463859 meters # Minimum depth: 751.994678 meters looking forward 0.000000 meters along route # Maximum depth: 751.994678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.994678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.956660; longitude = -119.065610; captureRadius = 10; duration = 56; initialDepth = 713.797215; finalDepth = 711.994678; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:711.994678 # Seafloor depth:-751.994678 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 56.463859 meters # Minimum depth: 753.797215 meters looking forward 0.000000 meters along route # Maximum depth: 753.797215 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.797215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.956147; longitude = -119.065349; captureRadius = 10; duration = 56; initialDepth = 715.005859; finalDepth = 713.797215; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.797215 # Seafloor depth:-753.797215 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 64 # Segment length 56.463859 meters # Minimum depth: 755.005859 meters looking forward 0.000000 meters along route # Maximum depth: 755.005859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.005859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.955666; longitude = -119.065104; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 714.844797; finalDepth = 715.005859; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:715.005859 # Seafloor depth:-755.005859 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 56.463859 meters # Minimum depth: 754.844797 meters looking forward 0.000000 meters along route # Maximum depth: 754.844797 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.844797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.955682; longitude = -119.065176; captureRadius = 10; duration = 56; initialDepth = 713.871635; finalDepth = 714.844797; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:714.844797 # Seafloor depth:-754.844797 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 56.463859 meters # Minimum depth: 753.871635 meters looking forward 0.000000 meters along route # Maximum depth: 753.871635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.871635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.955828; longitude = -119.065826; captureRadius = 10; duration = 56; initialDepth = 713.397716; finalDepth = 713.871635; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.871635 # Seafloor depth:-753.871635 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 56.463859 meters # Minimum depth: 753.397716 meters looking forward 0.000000 meters along route # Maximum depth: 753.397716 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.397716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.955967; longitude = -119.066446; captureRadius = 10; duration = 56; initialDepth = 713.253906; finalDepth = 713.397716; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.397716 # Seafloor depth:-753.397716 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 63 # Segment length 56.463859 meters # Minimum depth: 753.253906 meters looking forward 0.000000 meters along route # Maximum depth: 753.253906 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.253906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.956087; longitude = -119.066983; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 713.125404; finalDepth = 713.253906; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.253906 # Seafloor depth:-753.253906 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 56.463859 meters # Minimum depth: 753.125404 meters looking forward 0.000000 meters along route # Maximum depth: 753.125404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.125404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.956508; longitude = -119.067205; captureRadius = 10; duration = 56; initialDepth = 713.456500; finalDepth = 713.125404; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.125404 # Seafloor depth:-753.125404 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 56.463859 meters # Minimum depth: 753.456500 meters looking forward 0.000000 meters along route # Maximum depth: 753.456500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.456500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.957049; longitude = -119.067490; captureRadius = 10; duration = 56; initialDepth = 714.311787; finalDepth = 713.456500; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.4565 # Seafloor depth:-753.456500 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 56.463859 meters # Minimum depth: 754.311787 meters looking forward 0.000000 meters along route # Maximum depth: 754.311787 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.311787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.957593; longitude = -119.067778; captureRadius = 10; duration = 56; initialDepth = 714.909435; finalDepth = 714.311787; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:714.311787 # Seafloor depth:-754.311787 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 56.463859 meters # Minimum depth: 754.909435 meters looking forward 0.000000 meters along route # Maximum depth: 754.909435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.909435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.958131; longitude = -119.068061; captureRadius = 10; duration = 56; initialDepth = 715.261252; finalDepth = 714.909435; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:714.909435 # Seafloor depth:-754.909435 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 56.463859 meters # Minimum depth: 755.261252 meters looking forward 0.000000 meters along route # Maximum depth: 755.261252 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.261252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.958672; longitude = -119.068347; captureRadius = 10; duration = 56; initialDepth = 715.211481; finalDepth = 715.261252; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:715.261252 # Seafloor depth:-755.261252 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 56.463859 meters # Minimum depth: 755.211481 meters looking forward 0.000000 meters along route # Maximum depth: 755.211481 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.211481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.959237; longitude = -119.068645; captureRadius = 10; duration = 56; initialDepth = 712.507516; finalDepth = 715.211481; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:715.211481 # Seafloor depth:-755.211481 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 56.463859 meters # Minimum depth: 752.507516 meters looking forward 0.000000 meters along route # Maximum depth: 752.507516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.507516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.959754; longitude = -119.068918; captureRadius = 10; duration = 56; initialDepth = 709.651916; finalDepth = 712.507516; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:712.507516 # Seafloor depth:-752.507516 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 56.463859 meters # Minimum depth: 749.651916 meters looking forward 0.000000 meters along route # Maximum depth: 749.651916 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.651916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.960295; longitude = -119.069203; captureRadius = 10; duration = 56; initialDepth = 709.676251; finalDepth = 709.651916; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.651916 # Seafloor depth:-749.651916 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 56.463859 meters # Minimum depth: 749.676251 meters looking forward 0.000000 meters along route # Maximum depth: 749.676251 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.676251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.960880; longitude = -119.069512; captureRadius = 10; duration = 56; initialDepth = 707.249820; finalDepth = 709.676251; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.676251 # Seafloor depth:-749.676251 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 56.463859 meters # Minimum depth: 747.249820 meters looking forward 0.000000 meters along route # Maximum depth: 747.249820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.249820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.961377; longitude = -119.069774; captureRadius = 10; duration = 56; initialDepth = 707.209685; finalDepth = 707.249820; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:707.24982 # Seafloor depth:-747.249820 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 56.463859 meters # Minimum depth: 747.209685 meters looking forward 0.000000 meters along route # Maximum depth: 747.209685 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.209685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.961918; longitude = -119.070059; captureRadius = 10; duration = 56; initialDepth = 706.837427; finalDepth = 707.209685; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:707.209685 # Seafloor depth:-747.209685 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 56.463859 meters # Minimum depth: 746.837427 meters looking forward 0.000000 meters along route # Maximum depth: 746.837427 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.837427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.962459; longitude = -119.070345; captureRadius = 10; duration = 56; initialDepth = 705.610447; finalDepth = 706.837427; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.837427 # Seafloor depth:-746.837427 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 56.463859 meters # Minimum depth: 745.610447 meters looking forward 0.000000 meters along route # Maximum depth: 745.610447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.610447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.962935; longitude = -119.070596; captureRadius = 10; duration = 56; initialDepth = 703.659040; finalDepth = 705.610447; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.610447 # Seafloor depth:-745.610447 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 56.463859 meters # Minimum depth: 743.659040 meters looking forward 0.000000 meters along route # Maximum depth: 743.659040 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.659040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.963361; longitude = -119.070821; captureRadius = 10; duration = 56; initialDepth = 705.106252; finalDepth = 703.659040; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.65904 # Seafloor depth:-743.659040 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 56.463859 meters # Minimum depth: 745.106252 meters looking forward 0.000000 meters along route # Maximum depth: 745.106252 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.106252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.963902; longitude = -119.071106; captureRadius = 10; duration = 56; initialDepth = 704.576898; finalDepth = 705.106252; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.106252 # Seafloor depth:-745.106252 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 56.463859 meters # Minimum depth: 744.576898 meters looking forward 0.000000 meters along route # Maximum depth: 744.576898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.576898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.964443; longitude = -119.071391; captureRadius = 10; duration = 56; initialDepth = 703.424831; finalDepth = 704.576898; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:704.576898 # Seafloor depth:-744.576898 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 56.463859 meters # Minimum depth: 743.424831 meters looking forward 0.000000 meters along route # Maximum depth: 743.424831 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.424831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.964984; longitude = -119.071677; captureRadius = 10; duration = 56; initialDepth = 703.259025; finalDepth = 703.424831; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.424831 # Seafloor depth:-743.424831 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 56.463859 meters # Minimum depth: 743.259025 meters looking forward 0.000000 meters along route # Maximum depth: 743.259025 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.259025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.965401; longitude = -119.071897; captureRadius = 10; duration = 56; initialDepth = 701.677733; finalDepth = 703.259025; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.259025 # Seafloor depth:-743.259025 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 56.463859 meters # Minimum depth: 741.677733 meters looking forward 0.000000 meters along route # Maximum depth: 741.677733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.677733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.965886; longitude = -119.072153; captureRadius = 10; duration = 56; initialDepth = 701.153651; finalDepth = 701.677733; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:701.677733 # Seafloor depth:-741.677733 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 56.463859 meters # Minimum depth: 741.153651 meters looking forward 0.000000 meters along route # Maximum depth: 741.153651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.153651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.966427; longitude = -119.072438; captureRadius = 10; duration = 56; initialDepth = 700.619292; finalDepth = 701.153651; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:701.153651 # Seafloor depth:-741.153651 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 56.463859 meters # Minimum depth: 740.619292 meters looking forward 0.000000 meters along route # Maximum depth: 740.619292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.619292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.966968; longitude = -119.072724; captureRadius = 10; duration = 56; initialDepth = 699.754551; finalDepth = 700.619292; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:700.619292 # Seafloor depth:-740.619292 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 56.463859 meters # Minimum depth: 739.754551 meters looking forward 0.000000 meters along route # Maximum depth: 739.754551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.754551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.967455; longitude = -119.072981; captureRadius = 10; duration = 56; initialDepth = 698.922071; finalDepth = 699.754551; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:699.754551 # Seafloor depth:-739.754551 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 56.463859 meters # Minimum depth: 738.922071 meters looking forward 0.000000 meters along route # Maximum depth: 738.922071 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.922071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.967869; longitude = -119.073199; captureRadius = 10; duration = 56; initialDepth = 698.775890; finalDepth = 698.922071; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.922071 # Seafloor depth:-738.922071 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 56.463859 meters # Minimum depth: 738.775890 meters looking forward 0.000000 meters along route # Maximum depth: 738.775890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.775890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.968410; longitude = -119.073485; captureRadius = 10; duration = 56; initialDepth = 699.245764; finalDepth = 698.775890; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.77589 # Seafloor depth:-738.775890 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 56.463859 meters # Minimum depth: 739.245764 meters looking forward 0.000000 meters along route # Maximum depth: 739.245764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.245764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.968952; longitude = -119.073770; captureRadius = 10; duration = 56; initialDepth = 698.649261; finalDepth = 699.245764; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:699.245764 # Seafloor depth:-739.245764 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 62 # Segment length 56.463859 meters # Minimum depth: 738.649261 meters looking forward 0.000000 meters along route # Maximum depth: 738.649261 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.649261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.969372; longitude = -119.073992; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 698.959237; finalDepth = 698.649261; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.649261 # Seafloor depth:-738.649261 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 738.959237 meters looking forward 0.000000 meters along route # Maximum depth: 738.959237 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.959237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.969673; longitude = -119.073988; captureRadius = 10; duration = 56; initialDepth = 698.763188; finalDepth = 698.959237; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.959237 # Seafloor depth:-738.959237 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 738.763188 meters looking forward 0.000000 meters along route # Maximum depth: 738.763188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.763188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.970214; longitude = -119.073980; captureRadius = 10; duration = 56; initialDepth = 700.224619; finalDepth = 698.763188; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.763188 # Seafloor depth:-738.763188 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 740.224619 meters looking forward 0.000000 meters along route # Maximum depth: 740.224619 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.224619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.970755; longitude = -119.073972; captureRadius = 10; duration = 56; initialDepth = 694.100116; finalDepth = 700.224619; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:700.224619 # Seafloor depth:-740.224619 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 734.100116 meters looking forward 0.000000 meters along route # Maximum depth: 734.100116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.100116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.971296; longitude = -119.073964; captureRadius = 10; duration = 56; initialDepth = 693.760824; finalDepth = 694.100116; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.100116 # Seafloor depth:-734.100116 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 733.760824 meters looking forward 0.000000 meters along route # Maximum depth: 733.760824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.760824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.971837; longitude = -119.073956; captureRadius = 10; duration = 56; initialDepth = 694.180597; finalDepth = 693.760824; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:693.760824 # Seafloor depth:-733.760824 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 734.180597 meters looking forward 0.000000 meters along route # Maximum depth: 734.180597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.180597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.972378; longitude = -119.073948; captureRadius = 10; duration = 56; initialDepth = 693.603949; finalDepth = 694.180597; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.180597 # Seafloor depth:-734.180597 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 733.603949 meters looking forward 0.000000 meters along route # Maximum depth: 733.603949 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.603949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.972919; longitude = -119.073940; captureRadius = 10; duration = 56; initialDepth = 695.253874; finalDepth = 693.603949; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:693.603949 # Seafloor depth:-733.603949 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 735.253874 meters looking forward 0.000000 meters along route # Maximum depth: 735.253874 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.253874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.973460; longitude = -119.073932; captureRadius = 10; duration = 56; initialDepth = 694.873539; finalDepth = 695.253874; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:695.253874 # Seafloor depth:-735.253874 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 734.873539 meters looking forward 0.000000 meters along route # Maximum depth: 734.873539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.873539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974001; longitude = -119.073924; captureRadius = 10; duration = 56; initialDepth = 696.982650; finalDepth = 694.873539; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.873539 # Seafloor depth:-734.873539 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 736.982650 meters looking forward 0.000000 meters along route # Maximum depth: 736.982650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.982650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974542; longitude = -119.073916; captureRadius = 10; duration = 56; initialDepth = 697.139142; finalDepth = 696.982650; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:696.98265 # Seafloor depth:-736.982650 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 737.139142 meters looking forward 0.000000 meters along route # Maximum depth: 737.139142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.139142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975083; longitude = -119.073908; captureRadius = 10; duration = 56; initialDepth = 695.430287; finalDepth = 697.139142; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:697.139142 # Seafloor depth:-737.139142 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 735.430287 meters looking forward 0.000000 meters along route # Maximum depth: 735.430287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.430287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975624; longitude = -119.073900; captureRadius = 10; duration = 56; initialDepth = 694.027859; finalDepth = 695.430287; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:695.430287 # Seafloor depth:-735.430287 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 734.027859 meters looking forward 0.000000 meters along route # Maximum depth: 734.027859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.027859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976165; longitude = -119.073892; captureRadius = 10; duration = 56; initialDepth = 691.743449; finalDepth = 694.027859; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.027859 # Seafloor depth:-734.027859 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 731.743449 meters looking forward 0.000000 meters along route # Maximum depth: 731.743449 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.743449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976706; longitude = -119.073885; captureRadius = 10; duration = 56; initialDepth = 690.582317; finalDepth = 691.743449; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:691.743449 # Seafloor depth:-731.743449 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 730.582317 meters looking forward 0.000000 meters along route # Maximum depth: 730.582317 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.582317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977247; longitude = -119.073877; captureRadius = 10; duration = 56; initialDepth = 688.855298; finalDepth = 690.582317; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:690.582317 # Seafloor depth:-730.582317 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 728.855298 meters looking forward 0.000000 meters along route # Maximum depth: 728.855298 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.855298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977788; longitude = -119.073869; captureRadius = 10; duration = 56; initialDepth = 687.733055; finalDepth = 688.855298; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.855298 # Seafloor depth:-728.855298 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 727.733055 meters looking forward 0.000000 meters along route # Maximum depth: 727.733055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.733055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.978329; longitude = -119.073861; captureRadius = 10; duration = 56; initialDepth = 687.835764; finalDepth = 687.733055; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:687.733055 # Seafloor depth:-727.733055 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 727.835764 meters looking forward 0.000000 meters along route # Maximum depth: 727.835764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.835764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.978870; longitude = -119.073853; captureRadius = 10; duration = 56; initialDepth = 686.073203; finalDepth = 687.835764; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:687.835764 # Seafloor depth:-727.835764 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 726.073203 meters looking forward 0.000000 meters along route # Maximum depth: 726.073203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.073203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.979412; longitude = -119.073845; captureRadius = 10; duration = 56; initialDepth = 690.884772; finalDepth = 686.073203; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:686.073203 # Seafloor depth:-726.073203 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 730.884772 meters looking forward 0.000000 meters along route # Maximum depth: 730.884772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.884772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.979953; longitude = -119.073837; captureRadius = 10; duration = 56; initialDepth = 693.811546; finalDepth = 690.884772; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:690.884772 # Seafloor depth:-730.884772 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 733.811546 meters looking forward 0.000000 meters along route # Maximum depth: 733.811546 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.811546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.980494; longitude = -119.073829; captureRadius = 10; duration = 56; initialDepth = 694.752244; finalDepth = 693.811546; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:693.811546 # Seafloor depth:-733.811546 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 734.752244 meters looking forward 0.000000 meters along route # Maximum depth: 734.752244 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.752244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.981035; longitude = -119.073821; captureRadius = 10; duration = 56; initialDepth = 697.657904; finalDepth = 694.752244; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.752244 # Seafloor depth:-734.752244 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 737.657904 meters looking forward 0.000000 meters along route # Maximum depth: 737.657904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.657904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.981576; longitude = -119.073813; captureRadius = 10; duration = 56; initialDepth = 698.054593; finalDepth = 697.657904; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:697.657904 # Seafloor depth:-737.657904 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 738.054593 meters looking forward 0.000000 meters along route # Maximum depth: 738.054593 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.054593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.982117; longitude = -119.073805; captureRadius = 10; duration = 56; initialDepth = 697.553585; finalDepth = 698.054593; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.054593 # Seafloor depth:-738.054593 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 737.553585 meters looking forward 0.000000 meters along route # Maximum depth: 737.553585 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.553585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.982658; longitude = -119.073797; captureRadius = 10; duration = 56; initialDepth = 697.001223; finalDepth = 697.553585; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:697.553585 # Seafloor depth:-737.553585 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 737.001223 meters looking forward 0.000000 meters along route # Maximum depth: 737.001223 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.001223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.983199; longitude = -119.073789; captureRadius = 10; duration = 56; initialDepth = 696.286094; finalDepth = 697.001223; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:697.001223 # Seafloor depth:-737.001223 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 736.286094 meters looking forward 0.000000 meters along route # Maximum depth: 736.286094 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.286094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.983740; longitude = -119.073781; captureRadius = 10; duration = 56; initialDepth = 695.194786; finalDepth = 696.286094; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:696.286094 # Seafloor depth:-736.286094 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 735.194786 meters looking forward 0.000000 meters along route # Maximum depth: 735.194786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.194786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.984281; longitude = -119.073773; captureRadius = 10; duration = 56; initialDepth = 694.171166; finalDepth = 695.194786; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:695.194786 # Seafloor depth:-735.194786 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 734.171166 meters looking forward 0.000000 meters along route # Maximum depth: 734.171166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.171166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.984822; longitude = -119.073766; captureRadius = 10; duration = 56; initialDepth = 692.241873; finalDepth = 694.171166; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.171166 # Seafloor depth:-734.171166 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 732.241873 meters looking forward 0.000000 meters along route # Maximum depth: 732.241873 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.241873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.985363; longitude = -119.073758; captureRadius = 10; duration = 56; initialDepth = 691.761305; finalDepth = 692.241873; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:692.241873 # Seafloor depth:-732.241873 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 731.761305 meters looking forward 0.000000 meters along route # Maximum depth: 731.761305 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.761305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.985904; longitude = -119.073750; captureRadius = 10; duration = 56; initialDepth = 690.166643; finalDepth = 691.761305; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:691.761305 # Seafloor depth:-731.761305 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 730.166643 meters looking forward 0.000000 meters along route # Maximum depth: 730.166643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.166643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.986445; longitude = -119.073742; captureRadius = 10; duration = 56; initialDepth = 690.251590; finalDepth = 690.166643; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:690.166643 # Seafloor depth:-730.166643 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 730.251590 meters looking forward 0.000000 meters along route # Maximum depth: 730.251590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.251590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.986986; longitude = -119.073734; captureRadius = 10; duration = 56; initialDepth = 688.363429; finalDepth = 690.251590; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:690.25159 # Seafloor depth:-730.251590 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 728.363429 meters looking forward 0.000000 meters along route # Maximum depth: 728.363429 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.363429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.987527; longitude = -119.073726; captureRadius = 10; duration = 56; initialDepth = 687.970007; finalDepth = 688.363429; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.363429 # Seafloor depth:-728.363429 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 727.970007 meters looking forward 0.000000 meters along route # Maximum depth: 727.970007 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.970007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.988068; longitude = -119.073718; captureRadius = 10; duration = 56; initialDepth = 685.687955; finalDepth = 687.970007; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:687.970007 # Seafloor depth:-727.970007 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 56.463859 meters # Minimum depth: 725.687955 meters looking forward 0.000000 meters along route # Maximum depth: 725.687955 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.687955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.988609; longitude = -119.073710; captureRadius = 10; duration = 56; initialDepth = 685.773499; finalDepth = 685.687955; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:685.687955 # Seafloor depth:-725.687955 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 61 # Segment length 56.463859 meters # Minimum depth: 725.773499 meters looking forward 0.000000 meters along route # Maximum depth: 725.773499 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.773499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.989090; longitude = -119.073703; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 686.197460; finalDepth = 685.773499; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:685.773499 # Seafloor depth:-725.773499 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 56.463859 meters # Minimum depth: 726.197460 meters looking forward 0.000000 meters along route # Maximum depth: 726.197460 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.197460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.989150; longitude = -119.073722; captureRadius = 10; duration = 56; initialDepth = 683.382237; finalDepth = 686.197460; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:686.19746 # Seafloor depth:-726.197460 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 56.463859 meters # Minimum depth: 723.382237 meters looking forward 0.000000 meters along route # Maximum depth: 723.382237 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.382237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.989691; longitude = -119.073890; captureRadius = 10; duration = 56; initialDepth = 682.183844; finalDepth = 683.382237; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:683.382237 # Seafloor depth:-723.382237 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 56.463859 meters # Minimum depth: 722.183844 meters looking forward 0.000000 meters along route # Maximum depth: 722.183844 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.183844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.990255; longitude = -119.074065; captureRadius = 10; duration = 56; initialDepth = 681.328416; finalDepth = 682.183844; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:682.183844 # Seafloor depth:-722.183844 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 56.463859 meters # Minimum depth: 721.328416 meters looking forward 0.000000 meters along route # Maximum depth: 721.328416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.328416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.990773; longitude = -119.074226; captureRadius = 10; duration = 56; initialDepth = 681.246340; finalDepth = 681.328416; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:681.328416 # Seafloor depth:-721.328416 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 56.463859 meters # Minimum depth: 721.246340 meters looking forward 0.000000 meters along route # Maximum depth: 721.246340 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.246340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.991314; longitude = -119.074393; captureRadius = 10; duration = 56; initialDepth = 678.149840; finalDepth = 681.246340; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:681.24634 # Seafloor depth:-721.246340 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 56.463859 meters # Minimum depth: 718.149840 meters looking forward 0.000000 meters along route # Maximum depth: 718.149840 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.149840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.991855; longitude = -119.074561; captureRadius = 10; duration = 56; initialDepth = 675.692682; finalDepth = 678.149840; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:678.14984 # Seafloor depth:-718.149840 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 56.463859 meters # Minimum depth: 715.692682 meters looking forward 0.000000 meters along route # Maximum depth: 715.692682 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.692682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.992350; longitude = -119.074715; captureRadius = 10; duration = 56; initialDepth = 669.403687; finalDepth = 675.692682; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:675.692682 # Seafloor depth:-715.692682 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 60 # Segment length 56.463859 meters # Minimum depth: 709.403687 meters looking forward 0.000000 meters along route # Maximum depth: 709.403687 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 669.403687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.992817; longitude = -119.074860; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 675.468164; finalDepth = 669.403687; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:669.403687 # Seafloor depth:-709.403687 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 56.463859 meters # Minimum depth: 715.468164 meters looking forward 0.000000 meters along route # Maximum depth: 715.468164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.468164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.993118; longitude = -119.075201; captureRadius = 10; duration = 56; initialDepth = 674.605540; finalDepth = 675.468164; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:675.468164 # Seafloor depth:-715.468164 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 56.463859 meters # Minimum depth: 714.605540 meters looking forward 0.000000 meters along route # Maximum depth: 714.605540 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.605540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.993478; longitude = -119.075611; captureRadius = 10; duration = 56; initialDepth = 675.229915; finalDepth = 674.605540; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:674.60554 # Seafloor depth:-714.605540 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 56.463859 meters # Minimum depth: 715.229915 meters looking forward 0.000000 meters along route # Maximum depth: 715.229915 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.229915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.993839; longitude = -119.076020; captureRadius = 10; duration = 56; initialDepth = 668.070613; finalDepth = 675.229915; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:675.229915 # Seafloor depth:-715.229915 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 56.463859 meters # Minimum depth: 708.070613 meters looking forward 0.000000 meters along route # Maximum depth: 708.070613 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 668.070613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994217; longitude = -119.076450; captureRadius = 10; duration = 56; initialDepth = 664.581080; finalDepth = 668.070613; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:668.070613 # Seafloor depth:-708.070613 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 56.463859 meters # Minimum depth: 704.581080 meters looking forward 0.000000 meters along route # Maximum depth: 704.581080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 664.581080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994560; longitude = -119.076839; captureRadius = 10; duration = 56; initialDepth = 661.034210; finalDepth = 664.581080; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:664.58108 # Seafloor depth:-704.581080 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 56.463859 meters # Minimum depth: 701.034210 meters looking forward 0.000000 meters along route # Maximum depth: 701.034210 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 661.034210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994921; longitude = -119.077249; captureRadius = 10; duration = 56; initialDepth = 663.037225; finalDepth = 661.034210; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:661.03421 # Seafloor depth:-701.034210 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 56.463859 meters # Minimum depth: 703.037225 meters looking forward 0.000000 meters along route # Maximum depth: 703.037225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 663.037225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995282; longitude = -119.077658; captureRadius = 10; duration = 56; initialDepth = 662.260926; finalDepth = 663.037225; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:663.037225 # Seafloor depth:-703.037225 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 56.463859 meters # Minimum depth: 702.260926 meters looking forward 0.000000 meters along route # Maximum depth: 702.260926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 662.260926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995643; longitude = -119.078068; captureRadius = 10; duration = 56; initialDepth = 660.580368; finalDepth = 662.260926; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:662.260926 # Seafloor depth:-702.260926 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 59 # Segment length 56.463859 meters # Minimum depth: 700.580368 meters looking forward 0.000000 meters along route # Maximum depth: 700.580368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 660.580368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996063; longitude = -119.078545; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 659.515788; finalDepth = 660.580368; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:660.580368 # Seafloor depth:-700.580368 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 56.463859 meters # Minimum depth: 699.515788 meters looking forward 0.000000 meters along route # Maximum depth: 699.515788 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 659.515788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996207; longitude = -119.079051; captureRadius = 10; duration = 56; initialDepth = 656.492130; finalDepth = 659.515788; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:659.515788 # Seafloor depth:-699.515788 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 56.463859 meters # Minimum depth: 696.492130 meters looking forward 0.000000 meters along route # Maximum depth: 696.492130 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 656.492130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996393; longitude = -119.079702; captureRadius = 10; duration = 56; initialDepth = 651.930021; finalDepth = 656.492130; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:656.49213 # Seafloor depth:-696.492130 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 56.463859 meters # Minimum depth: 691.930021 meters looking forward 0.000000 meters along route # Maximum depth: 691.930021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 651.930021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996578; longitude = -119.080352; captureRadius = 10; duration = 56; initialDepth = 648.387819; finalDepth = 651.930021; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:651.930021 # Seafloor depth:-691.930021 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 56.463859 meters # Minimum depth: 688.387819 meters looking forward 0.000000 meters along route # Maximum depth: 688.387819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 648.387819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996764; longitude = -119.081002; captureRadius = 10; duration = 56; initialDepth = 644.784109; finalDepth = 648.387819; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:648.387819 # Seafloor depth:-688.387819 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 56.463859 meters # Minimum depth: 684.784109 meters looking forward 0.000000 meters along route # Maximum depth: 684.784109 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.784109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996949; longitude = -119.081653; captureRadius = 10; duration = 56; initialDepth = 646.602371; finalDepth = 644.784109; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:644.784109 # Seafloor depth:-684.784109 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 56.463859 meters # Minimum depth: 686.602371 meters looking forward 0.000000 meters along route # Maximum depth: 686.602371 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 646.602371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997135; longitude = -119.082303; captureRadius = 10; duration = 56; initialDepth = 642.923293; finalDepth = 646.602371; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:646.602371 # Seafloor depth:-686.602371 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 56.463859 meters # Minimum depth: 682.923293 meters looking forward 0.000000 meters along route # Maximum depth: 682.923293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.923293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997320; longitude = -119.082954; captureRadius = 10; duration = 56; initialDepth = 653.279154; finalDepth = 642.923293; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:642.923293 # Seafloor depth:-682.923293 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 56.463859 meters # Minimum depth: 693.279154 meters looking forward 0.000000 meters along route # Maximum depth: 693.279154 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.279154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997506; longitude = -119.083604; captureRadius = 10; duration = 56; initialDepth = 651.972049; finalDepth = 653.279154; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:653.279154 # Seafloor depth:-693.279154 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 56.463859 meters # Minimum depth: 691.972049 meters looking forward 0.000000 meters along route # Maximum depth: 691.972049 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 651.972049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997691; longitude = -119.084254; captureRadius = 10; duration = 56; initialDepth = 649.115800; finalDepth = 651.972049; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:651.972049 # Seafloor depth:-691.972049 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 56.463859 meters # Minimum depth: 689.115800 meters looking forward 0.000000 meters along route # Maximum depth: 689.115800 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.115800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997877; longitude = -119.084905; captureRadius = 10; duration = 56; initialDepth = 647.586912; finalDepth = 649.115800; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:649.1158 # Seafloor depth:-689.115800 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 56.463859 meters # Minimum depth: 687.586912 meters looking forward 0.000000 meters along route # Maximum depth: 687.586912 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 647.586912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998062; longitude = -119.085555; captureRadius = 10; duration = 56; initialDepth = 645.126282; finalDepth = 647.586912; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:647.586912 # Seafloor depth:-687.586912 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 58 # Segment length 56.463859 meters # Minimum depth: 685.126282 meters looking forward 0.000000 meters along route # Maximum depth: 685.126282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 645.126282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998227; longitude = -119.086133; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 645.128788; finalDepth = 645.126282; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:645.126282 # Seafloor depth:-685.126282 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 56.463859 meters # Minimum depth: 685.128788 meters looking forward 0.000000 meters along route # Maximum depth: 685.128788 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 645.128788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998336; longitude = -119.086422; captureRadius = 10; duration = 56; initialDepth = 641.053219; finalDepth = 645.128788; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:645.128788 # Seafloor depth:-685.128788 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 56.463859 meters # Minimum depth: 681.053219 meters looking forward 0.000000 meters along route # Maximum depth: 681.053219 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.053219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998528; longitude = -119.086933; captureRadius = 10; duration = 56; initialDepth = 639.796694; finalDepth = 641.053219; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:641.053219 # Seafloor depth:-681.053219 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 56.463859 meters # Minimum depth: 679.796694 meters looking forward 0.000000 meters along route # Maximum depth: 679.796694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 639.796694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998744; longitude = -119.087506; captureRadius = 10; duration = 56; initialDepth = 637.414632; finalDepth = 639.796694; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:639.796694 # Seafloor depth:-679.796694 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 56.463859 meters # Minimum depth: 677.414632 meters looking forward 0.000000 meters along route # Maximum depth: 677.414632 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 637.414632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998989; longitude = -119.088157; captureRadius = 10; duration = 56; initialDepth = 635.377540; finalDepth = 637.414632; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:637.414632 # Seafloor depth:-677.414632 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 56.463859 meters # Minimum depth: 675.377540 meters looking forward 0.000000 meters along route # Maximum depth: 675.377540 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.377540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999234; longitude = -119.088807; captureRadius = 10; duration = 56; initialDepth = 635.204122; finalDepth = 635.377540; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:635.37754 # Seafloor depth:-675.377540 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 56.463859 meters # Minimum depth: 675.204122 meters looking forward 0.000000 meters along route # Maximum depth: 675.204122 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.204122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999430; longitude = -119.089328; captureRadius = 10; duration = 56; initialDepth = 635.279477; finalDepth = 635.204122; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:635.204122 # Seafloor depth:-675.204122 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 56.463859 meters # Minimum depth: 675.279477 meters looking forward 0.000000 meters along route # Maximum depth: 675.279477 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.279477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999642; longitude = -119.089891; captureRadius = 10; duration = 56; initialDepth = 635.275632; finalDepth = 635.279477; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:635.279477 # Seafloor depth:-675.279477 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 56.463859 meters # Minimum depth: 675.275632 meters looking forward 0.000000 meters along route # Maximum depth: 675.275632 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.275632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999887; longitude = -119.090542; captureRadius = 10; duration = 56; initialDepth = 633.645401; finalDepth = 635.275632; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:635.275632 # Seafloor depth:-675.275632 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 56.463859 meters # Minimum depth: 673.645401 meters looking forward 0.000000 meters along route # Maximum depth: 673.645401 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 633.645401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000151; longitude = -119.091244; captureRadius = 10; duration = 56; initialDepth = 631.058345; finalDepth = 633.645401; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:633.645401 # Seafloor depth:-673.645401 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 56.463859 meters # Minimum depth: 671.058345 meters looking forward 0.000000 meters along route # Maximum depth: 671.058345 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 631.058345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000377; longitude = -119.091842; captureRadius = 10; duration = 56; initialDepth = 626.625183; finalDepth = 631.058345; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:631.058345 # Seafloor depth:-671.058345 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 56.463859 meters # Minimum depth: 666.625183 meters looking forward 0.000000 meters along route # Maximum depth: 666.625183 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 626.625183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000621; longitude = -119.092493; captureRadius = 10; duration = 56; initialDepth = 614.482025; finalDepth = 626.625183; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:626.625183 # Seafloor depth:-666.625183 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 57 # Segment length 56.463859 meters # Minimum depth: 654.482025 meters looking forward 0.000000 meters along route # Maximum depth: 654.482025 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 614.482025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000812; longitude = -119.092999; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 614.140611; finalDepth = 614.482025; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:614.482025 # Seafloor depth:-654.482025 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 56.463859 meters # Minimum depth: 654.140611 meters looking forward 0.000000 meters along route # Maximum depth: 654.140611 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 614.140611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000692; longitude = -119.093143; captureRadius = 10; duration = 56; initialDepth = 617.437081; finalDepth = 614.140611; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:614.140611 # Seafloor depth:-654.140611 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 56.463859 meters # Minimum depth: 657.437081 meters looking forward 0.000000 meters along route # Maximum depth: 657.437081 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 617.437081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000331; longitude = -119.093577; captureRadius = 10; duration = 56; initialDepth = 628.063014; finalDepth = 617.437081; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:617.437081 # Seafloor depth:-657.437081 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 56.463859 meters # Minimum depth: 668.063014 meters looking forward 0.000000 meters along route # Maximum depth: 668.063014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.063014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999971; longitude = -119.094010; captureRadius = 10; duration = 56; initialDepth = 633.735489; finalDepth = 628.063014; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:628.063014 # Seafloor depth:-668.063014 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 56 # Segment length 56.463859 meters # Minimum depth: 673.735489 meters looking forward 0.000000 meters along route # Maximum depth: 673.735489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 633.735489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999550; longitude = -119.094516; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 630.293810; finalDepth = 633.735489; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:633.735489 # Seafloor depth:-673.735489 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 56.463859 meters # Minimum depth: 670.293810 meters looking forward 0.000000 meters along route # Maximum depth: 670.293810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.293810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999430; longitude = -119.094123; captureRadius = 10; duration = 56; initialDepth = 631.029369; finalDepth = 630.293810; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:630.29381 # Seafloor depth:-670.293810 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 56.463859 meters # Minimum depth: 671.029369 meters looking forward 0.000000 meters along route # Maximum depth: 671.029369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 631.029369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999249; longitude = -119.093535; captureRadius = 10; duration = 56; initialDepth = 631.179182; finalDepth = 631.029369; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:631.029369 # Seafloor depth:-671.029369 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 56.463859 meters # Minimum depth: 671.179182 meters looking forward 0.000000 meters along route # Maximum depth: 671.179182 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 631.179182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999063; longitude = -119.092926; captureRadius = 10; duration = 56; initialDepth = 632.628924; finalDepth = 631.179182; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:631.179182 # Seafloor depth:-671.179182 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 56.463859 meters # Minimum depth: 672.628924 meters looking forward 0.000000 meters along route # Maximum depth: 672.628924 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 632.628924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998864; longitude = -119.092276; captureRadius = 10; duration = 56; initialDepth = 634.662301; finalDepth = 632.628924; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:632.628924 # Seafloor depth:-672.628924 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 56.463859 meters # Minimum depth: 674.662301 meters looking forward 0.000000 meters along route # Maximum depth: 674.662301 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.662301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998664; longitude = -119.091625; captureRadius = 10; duration = 56; initialDepth = 636.963618; finalDepth = 634.662301; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:634.662301 # Seafloor depth:-674.662301 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 56.463859 meters # Minimum depth: 676.963618 meters looking forward 0.000000 meters along route # Maximum depth: 676.963618 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 636.963618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998465; longitude = -119.090975; captureRadius = 10; duration = 56; initialDepth = 640.311844; finalDepth = 636.963618; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:636.963618 # Seafloor depth:-676.963618 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 55 # Segment length 56.463859 meters # Minimum depth: 680.311844 meters looking forward 0.000000 meters along route # Maximum depth: 680.311844 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 640.311844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998288; longitude = -119.090397; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 643.310201; finalDepth = 640.311844; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:640.311844 # Seafloor depth:-680.311844 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 56.463859 meters # Minimum depth: 683.310201 meters looking forward 0.000000 meters along route # Maximum depth: 683.310201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 643.310201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998104; longitude = -119.089891; captureRadius = 10; duration = 56; initialDepth = 644.923047; finalDepth = 643.310201; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:643.310201 # Seafloor depth:-683.310201 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 56.463859 meters # Minimum depth: 684.923047 meters looking forward 0.000000 meters along route # Maximum depth: 684.923047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.923047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997867; longitude = -119.089241; captureRadius = 10; duration = 56; initialDepth = 644.974447; finalDepth = 644.923047; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:644.923047 # Seafloor depth:-684.923047 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 56.463859 meters # Minimum depth: 684.974447 meters looking forward 0.000000 meters along route # Maximum depth: 684.974447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.974447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997630; longitude = -119.088590; captureRadius = 10; duration = 56; initialDepth = 645.499687; finalDepth = 644.974447; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:644.974447 # Seafloor depth:-684.974447 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 56.463859 meters # Minimum depth: 685.499687 meters looking forward 0.000000 meters along route # Maximum depth: 685.499687 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 645.499687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997446; longitude = -119.088084; captureRadius = 10; duration = 56; initialDepth = 647.570352; finalDepth = 645.499687; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:645.499687 # Seafloor depth:-685.499687 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 56.463859 meters # Minimum depth: 687.570352 meters looking forward 0.000000 meters along route # Maximum depth: 687.570352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 647.570352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997236; longitude = -119.087506; captureRadius = 10; duration = 56; initialDepth = 648.987259; finalDepth = 647.570352; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:647.570352 # Seafloor depth:-687.570352 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 54 # Segment length 56.463859 meters # Minimum depth: 688.987259 meters looking forward 0.000000 meters along route # Maximum depth: 688.987259 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 648.987259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997025; longitude = -119.086928; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 649.499045; finalDepth = 648.987259; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:648.987259 # Seafloor depth:-688.987259 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 56.463859 meters # Minimum depth: 689.499045 meters looking forward 0.000000 meters along route # Maximum depth: 689.499045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.499045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997006; longitude = -119.086856; captureRadius = 10; duration = 56; initialDepth = 651.184739; finalDepth = 649.499045; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:649.499045 # Seafloor depth:-689.499045 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 56.463859 meters # Minimum depth: 691.184739 meters looking forward 0.000000 meters along route # Maximum depth: 691.184739 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 651.184739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996836; longitude = -119.086206; captureRadius = 10; duration = 56; initialDepth = 651.084100; finalDepth = 651.184739; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:651.184739 # Seafloor depth:-691.184739 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 56.463859 meters # Minimum depth: 691.084100 meters looking forward 0.000000 meters along route # Maximum depth: 691.084100 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 651.084100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996666; longitude = -119.085555; captureRadius = 10; duration = 56; initialDepth = 651.727074; finalDepth = 651.084100; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:651.0841 # Seafloor depth:-691.084100 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 56.463859 meters # Minimum depth: 691.727074 meters looking forward 0.000000 meters along route # Maximum depth: 691.727074 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 651.727074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996496; longitude = -119.084905; captureRadius = 10; duration = 56; initialDepth = 653.289392; finalDepth = 651.727074; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:651.727074 # Seafloor depth:-691.727074 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 56.463859 meters # Minimum depth: 693.289392 meters looking forward 0.000000 meters along route # Maximum depth: 693.289392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.289392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996326; longitude = -119.084254; captureRadius = 10; duration = 56; initialDepth = 653.067117; finalDepth = 653.289392; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:653.289392 # Seafloor depth:-693.289392 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 56.463859 meters # Minimum depth: 693.067117 meters looking forward 0.000000 meters along route # Maximum depth: 693.067117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.067117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996184; longitude = -119.083710; captureRadius = 10; duration = 56; initialDepth = 653.521177; finalDepth = 653.067117; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:653.067117 # Seafloor depth:-693.067117 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 56.463859 meters # Minimum depth: 693.521177 meters looking forward 0.000000 meters along route # Maximum depth: 693.521177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.521177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996042; longitude = -119.083170; captureRadius = 10; duration = 56; initialDepth = 654.434942; finalDepth = 653.521177; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:653.521177 # Seafloor depth:-693.521177 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 56.463859 meters # Minimum depth: 694.434942 meters looking forward 0.000000 meters along route # Maximum depth: 694.434942 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 654.434942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995872; longitude = -119.082520; captureRadius = 10; duration = 56; initialDepth = 656.518194; finalDepth = 654.434942; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:654.434942 # Seafloor depth:-694.434942 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 56.463859 meters # Minimum depth: 696.518194 meters looking forward 0.000000 meters along route # Maximum depth: 696.518194 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 656.518194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995702; longitude = -119.081870; captureRadius = 10; duration = 56; initialDepth = 657.465542; finalDepth = 656.518194; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:656.518194 # Seafloor depth:-696.518194 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 56.463859 meters # Minimum depth: 697.465542 meters looking forward 0.000000 meters along route # Maximum depth: 697.465542 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 657.465542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995532; longitude = -119.081219; captureRadius = 10; duration = 56; initialDepth = 658.350516; finalDepth = 657.465542; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:657.465542 # Seafloor depth:-697.465542 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 56.463859 meters # Minimum depth: 698.350516 meters looking forward 0.000000 meters along route # Maximum depth: 698.350516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 658.350516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995362; longitude = -119.080569; captureRadius = 10; duration = 56; initialDepth = 659.521902; finalDepth = 658.350516; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:658.350516 # Seafloor depth:-698.350516 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 56.463859 meters # Minimum depth: 699.521902 meters looking forward 0.000000 meters along route # Maximum depth: 699.521902 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 659.521902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995192; longitude = -119.079918; captureRadius = 10; duration = 56; initialDepth = 660.681870; finalDepth = 659.521902; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:659.521902 # Seafloor depth:-699.521902 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 53 # Segment length 56.463859 meters # Minimum depth: 700.681870 meters looking forward 0.000000 meters along route # Maximum depth: 700.681870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 660.681870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995041; longitude = -119.079340; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 660.971393; finalDepth = 660.681870; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:660.68187 # Seafloor depth:-700.681870 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 56.463859 meters # Minimum depth: 700.971393 meters looking forward 0.000000 meters along route # Maximum depth: 700.971393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 660.971393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994741; longitude = -119.079024; captureRadius = 10; duration = 56; initialDepth = 662.632007; finalDepth = 660.971393; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:660.971393 # Seafloor depth:-700.971393 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 56.463859 meters # Minimum depth: 702.632007 meters looking forward 0.000000 meters along route # Maximum depth: 702.632007 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 662.632007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994380; longitude = -119.078645; captureRadius = 10; duration = 56; initialDepth = 662.690707; finalDepth = 662.632007; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:662.632007 # Seafloor depth:-702.632007 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 56.463859 meters # Minimum depth: 702.690707 meters looking forward 0.000000 meters along route # Maximum depth: 702.690707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 662.690707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994019; longitude = -119.078265; captureRadius = 10; duration = 56; initialDepth = 661.289051; finalDepth = 662.690707; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:662.690707 # Seafloor depth:-702.690707 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 56.463859 meters # Minimum depth: 701.289051 meters looking forward 0.000000 meters along route # Maximum depth: 701.289051 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 661.289051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.993659; longitude = -119.077886; captureRadius = 10; duration = 56; initialDepth = 660.611581; finalDepth = 661.289051; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:661.289051 # Seafloor depth:-701.289051 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 56.463859 meters # Minimum depth: 700.611581 meters looking forward 0.000000 meters along route # Maximum depth: 700.611581 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 660.611581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.993298; longitude = -119.077506; captureRadius = 10; duration = 56; initialDepth = 661.221069; finalDepth = 660.611581; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:660.611581 # Seafloor depth:-700.611581 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 56.463859 meters # Minimum depth: 701.221069 meters looking forward 0.000000 meters along route # Maximum depth: 701.221069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 661.221069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.992912; longitude = -119.077100; captureRadius = 10; duration = 56; initialDepth = 662.198299; finalDepth = 661.221069; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:661.221069 # Seafloor depth:-701.221069 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 56.463859 meters # Minimum depth: 702.198299 meters looking forward 0.000000 meters along route # Maximum depth: 702.198299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 662.198299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.992499; longitude = -119.076666; captureRadius = 10; duration = 56; initialDepth = 662.107010; finalDepth = 662.198299; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:662.198299 # Seafloor depth:-702.198299 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 52 # Segment length 56.463859 meters # Minimum depth: 702.107010 meters looking forward 0.000000 meters along route # Maximum depth: 702.107010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 662.107010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.992156; longitude = -119.076305; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 661.476778; finalDepth = 662.107010; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:662.10701 # Seafloor depth:-702.107010 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 56.463859 meters # Minimum depth: 701.476778 meters looking forward 0.000000 meters along route # Maximum depth: 701.476778 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 661.476778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.991855; longitude = -119.076180; captureRadius = 10; duration = 56; initialDepth = 660.514861; finalDepth = 661.476778; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:661.476778 # Seafloor depth:-701.476778 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 56.463859 meters # Minimum depth: 700.514861 meters looking forward 0.000000 meters along route # Maximum depth: 700.514861 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 660.514861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.991314; longitude = -119.075954; captureRadius = 10; duration = 56; initialDepth = 661.285252; finalDepth = 660.514861; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:660.514861 # Seafloor depth:-700.514861 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 56.463859 meters # Minimum depth: 701.285252 meters looking forward 0.000000 meters along route # Maximum depth: 701.285252 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 661.285252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.990773; longitude = -119.075728; captureRadius = 10; duration = 56; initialDepth = 664.101868; finalDepth = 661.285252; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:661.285252 # Seafloor depth:-701.285252 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 56.463859 meters # Minimum depth: 704.101868 meters looking forward 0.000000 meters along route # Maximum depth: 704.101868 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 664.101868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.990232; longitude = -119.075502; captureRadius = 10; duration = 56; initialDepth = 669.057090; finalDepth = 664.101868; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:664.101868 # Seafloor depth:-704.101868 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 56.463859 meters # Minimum depth: 709.057090 meters looking forward 0.000000 meters along route # Maximum depth: 709.057090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 669.057090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.989691; longitude = -119.075277; captureRadius = 10; duration = 56; initialDepth = 672.717804; finalDepth = 669.057090; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:669.05709 # Seafloor depth:-709.057090 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 51 # Segment length 56.463859 meters # Minimum depth: 712.717804 meters looking forward 0.000000 meters along route # Maximum depth: 712.717804 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.717804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.989210; longitude = -119.075076; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 671.726029; finalDepth = 672.717804; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:672.717804 # Seafloor depth:-712.717804 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 711.726029 meters looking forward 0.000000 meters along route # Maximum depth: 711.726029 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.726029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.989150; longitude = -119.075078; captureRadius = 10; duration = 56; initialDepth = 669.123880; finalDepth = 671.726029; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:671.726029 # Seafloor depth:-711.726029 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 709.123880 meters looking forward 0.000000 meters along route # Maximum depth: 709.123880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 669.123880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.988609; longitude = -119.075093; captureRadius = 10; duration = 56; initialDepth = 673.311346; finalDepth = 669.123880; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:669.12388 # Seafloor depth:-709.123880 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 713.311346 meters looking forward 0.000000 meters along route # Maximum depth: 713.311346 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.311346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.988068; longitude = -119.075109; captureRadius = 10; duration = 56; initialDepth = 674.247841; finalDepth = 673.311346; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:673.311346 # Seafloor depth:-713.311346 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 714.247841 meters looking forward 0.000000 meters along route # Maximum depth: 714.247841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.247841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.987527; longitude = -119.075124; captureRadius = 10; duration = 56; initialDepth = 679.142021; finalDepth = 674.247841; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:674.247841 # Seafloor depth:-714.247841 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 719.142021 meters looking forward 0.000000 meters along route # Maximum depth: 719.142021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.142021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.986986; longitude = -119.075140; captureRadius = 10; duration = 56; initialDepth = 679.950529; finalDepth = 679.142021; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:679.142021 # Seafloor depth:-719.142021 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 719.950529 meters looking forward 0.000000 meters along route # Maximum depth: 719.950529 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.950529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.986445; longitude = -119.075155; captureRadius = 10; duration = 56; initialDepth = 684.655545; finalDepth = 679.950529; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:679.950529 # Seafloor depth:-719.950529 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 724.655545 meters looking forward 0.000000 meters along route # Maximum depth: 724.655545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.655545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.985904; longitude = -119.075171; captureRadius = 10; duration = 56; initialDepth = 685.876402; finalDepth = 684.655545; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:684.655545 # Seafloor depth:-724.655545 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 725.876402 meters looking forward 0.000000 meters along route # Maximum depth: 725.876402 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.876402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.985363; longitude = -119.075187; captureRadius = 10; duration = 56; initialDepth = 686.172483; finalDepth = 685.876402; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:685.876402 # Seafloor depth:-725.876402 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 726.172483 meters looking forward 0.000000 meters along route # Maximum depth: 726.172483 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.172483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.984822; longitude = -119.075202; captureRadius = 10; duration = 56; initialDepth = 687.159456; finalDepth = 686.172483; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:686.172483 # Seafloor depth:-726.172483 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 727.159456 meters looking forward 0.000000 meters along route # Maximum depth: 727.159456 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.159456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.984281; longitude = -119.075218; captureRadius = 10; duration = 56; initialDepth = 684.222490; finalDepth = 687.159456; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:687.159456 # Seafloor depth:-727.159456 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 724.222490 meters looking forward 0.000000 meters along route # Maximum depth: 724.222490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.222490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.983740; longitude = -119.075233; captureRadius = 10; duration = 56; initialDepth = 687.809216; finalDepth = 684.222490; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:684.22249 # Seafloor depth:-724.222490 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 727.809216 meters looking forward 0.000000 meters along route # Maximum depth: 727.809216 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.809216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.983199; longitude = -119.075249; captureRadius = 10; duration = 56; initialDepth = 686.313323; finalDepth = 687.809216; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:687.809216 # Seafloor depth:-727.809216 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 726.313323 meters looking forward 0.000000 meters along route # Maximum depth: 726.313323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.313323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.982658; longitude = -119.075264; captureRadius = 10; duration = 56; initialDepth = 686.700314; finalDepth = 686.313323; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:686.313323 # Seafloor depth:-726.313323 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 726.700314 meters looking forward 0.000000 meters along route # Maximum depth: 726.700314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.700314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.982117; longitude = -119.075280; captureRadius = 10; duration = 56; initialDepth = 682.548873; finalDepth = 686.700314; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:686.700314 # Seafloor depth:-726.700314 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 722.548873 meters looking forward 0.000000 meters along route # Maximum depth: 722.548873 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.548873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.981576; longitude = -119.075296; captureRadius = 10; duration = 56; initialDepth = 683.185099; finalDepth = 682.548873; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:682.548873 # Seafloor depth:-722.548873 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 723.185099 meters looking forward 0.000000 meters along route # Maximum depth: 723.185099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.185099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.981035; longitude = -119.075311; captureRadius = 10; duration = 56; initialDepth = 679.510268; finalDepth = 683.185099; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:683.185099 # Seafloor depth:-723.185099 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 719.510268 meters looking forward 0.000000 meters along route # Maximum depth: 719.510268 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.510268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.980494; longitude = -119.075327; captureRadius = 10; duration = 56; initialDepth = 679.121010; finalDepth = 679.510268; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:679.510268 # Seafloor depth:-719.510268 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 719.121010 meters looking forward 0.000000 meters along route # Maximum depth: 719.121010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.121010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.979953; longitude = -119.075342; captureRadius = 10; duration = 56; initialDepth = 680.433419; finalDepth = 679.121010; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:679.12101 # Seafloor depth:-719.121010 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 720.433419 meters looking forward 0.000000 meters along route # Maximum depth: 720.433419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.433419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.979412; longitude = -119.075358; captureRadius = 10; duration = 56; initialDepth = 682.486741; finalDepth = 680.433419; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:680.433419 # Seafloor depth:-720.433419 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 722.486741 meters looking forward 0.000000 meters along route # Maximum depth: 722.486741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.486741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.978870; longitude = -119.075373; captureRadius = 10; duration = 56; initialDepth = 683.138311; finalDepth = 682.486741; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:682.486741 # Seafloor depth:-722.486741 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 723.138311 meters looking forward 0.000000 meters along route # Maximum depth: 723.138311 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.138311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.978329; longitude = -119.075389; captureRadius = 10; duration = 56; initialDepth = 687.630295; finalDepth = 683.138311; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:683.138311 # Seafloor depth:-723.138311 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 727.630295 meters looking forward 0.000000 meters along route # Maximum depth: 727.630295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.630295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977788; longitude = -119.075404; captureRadius = 10; duration = 56; initialDepth = 688.589272; finalDepth = 687.630295; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:687.630295 # Seafloor depth:-727.630295 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 728.589272 meters looking forward 0.000000 meters along route # Maximum depth: 728.589272 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.589272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977247; longitude = -119.075420; captureRadius = 10; duration = 56; initialDepth = 691.383912; finalDepth = 688.589272; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.589272 # Seafloor depth:-728.589272 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 731.383912 meters looking forward 0.000000 meters along route # Maximum depth: 731.383912 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.383912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976706; longitude = -119.075436; captureRadius = 10; duration = 56; initialDepth = 694.494107; finalDepth = 691.383912; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:691.383912 # Seafloor depth:-731.383912 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 734.494107 meters looking forward 0.000000 meters along route # Maximum depth: 734.494107 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.494107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976165; longitude = -119.075451; captureRadius = 10; duration = 56; initialDepth = 694.055911; finalDepth = 694.494107; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.494107 # Seafloor depth:-734.494107 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 734.055911 meters looking forward 0.000000 meters along route # Maximum depth: 734.055911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.055911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975624; longitude = -119.075467; captureRadius = 10; duration = 56; initialDepth = 694.107614; finalDepth = 694.055911; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.055911 # Seafloor depth:-734.055911 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 734.107614 meters looking forward 0.000000 meters along route # Maximum depth: 734.107614 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.107614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975083; longitude = -119.075482; captureRadius = 10; duration = 56; initialDepth = 695.403899; finalDepth = 694.107614; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.107614 # Seafloor depth:-734.107614 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 735.403899 meters looking forward 0.000000 meters along route # Maximum depth: 735.403899 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.403899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974542; longitude = -119.075498; captureRadius = 10; duration = 56; initialDepth = 696.053750; finalDepth = 695.403899; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:695.403899 # Seafloor depth:-735.403899 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 736.053750 meters looking forward 0.000000 meters along route # Maximum depth: 736.053750 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.053750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974001; longitude = -119.075513; captureRadius = 10; duration = 56; initialDepth = 697.115531; finalDepth = 696.053750; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:696.05375 # Seafloor depth:-736.053750 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 737.115531 meters looking forward 0.000000 meters along route # Maximum depth: 737.115531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.115531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.973460; longitude = -119.075529; captureRadius = 10; duration = 56; initialDepth = 696.419147; finalDepth = 697.115531; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:697.115531 # Seafloor depth:-737.115531 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 736.419147 meters looking forward 0.000000 meters along route # Maximum depth: 736.419147 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.419147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.972919; longitude = -119.075544; captureRadius = 10; duration = 56; initialDepth = 697.824587; finalDepth = 696.419147; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:696.419147 # Seafloor depth:-736.419147 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 737.824587 meters looking forward 0.000000 meters along route # Maximum depth: 737.824587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.824587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.972378; longitude = -119.075560; captureRadius = 10; duration = 56; initialDepth = 697.530058; finalDepth = 697.824587; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:697.824587 # Seafloor depth:-737.824587 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 737.530058 meters looking forward 0.000000 meters along route # Maximum depth: 737.530058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.530058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.971837; longitude = -119.075576; captureRadius = 10; duration = 56; initialDepth = 697.545681; finalDepth = 697.530058; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:697.530058 # Seafloor depth:-737.530058 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 737.545681 meters looking forward 0.000000 meters along route # Maximum depth: 737.545681 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.545681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.971296; longitude = -119.075591; captureRadius = 10; duration = 56; initialDepth = 698.287609; finalDepth = 697.545681; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:697.545681 # Seafloor depth:-737.545681 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 738.287609 meters looking forward 0.000000 meters along route # Maximum depth: 738.287609 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.287609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.970755; longitude = -119.075607; captureRadius = 10; duration = 56; initialDepth = 697.982321; finalDepth = 698.287609; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.287609 # Seafloor depth:-738.287609 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 737.982321 meters looking forward 0.000000 meters along route # Maximum depth: 737.982321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.982321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.970214; longitude = -119.075622; captureRadius = 10; duration = 56; initialDepth = 698.243066; finalDepth = 697.982321; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:697.982321 # Seafloor depth:-737.982321 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 56.463859 meters # Minimum depth: 738.243066 meters looking forward 0.000000 meters along route # Maximum depth: 738.243066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.243066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.969673; longitude = -119.075638; captureRadius = 10; duration = 56; initialDepth = 698.633270; finalDepth = 698.243066; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.243066 # Seafloor depth:-738.243066 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 50 # Segment length 56.463859 meters # Minimum depth: 738.633270 meters looking forward 0.000000 meters along route # Maximum depth: 738.633270 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.633270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.969072; longitude = -119.075655; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 698.768665; finalDepth = 698.633270; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.63327 # Seafloor depth:-738.633270 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 56.463859 meters # Minimum depth: 738.768665 meters looking forward 0.000000 meters along route # Maximum depth: 738.768665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.768665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.968952; longitude = -119.075590; captureRadius = 10; duration = 56; initialDepth = 698.983075; finalDepth = 698.768665; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.768665 # Seafloor depth:-738.768665 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 56.463859 meters # Minimum depth: 738.983075 meters looking forward 0.000000 meters along route # Maximum depth: 738.983075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.983075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.968536; longitude = -119.075366; captureRadius = 10; duration = 56; initialDepth = 699.419963; finalDepth = 698.983075; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.983075 # Seafloor depth:-738.983075 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 56.463859 meters # Minimum depth: 739.419963 meters looking forward 0.000000 meters along route # Maximum depth: 739.419963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.419963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.968050; longitude = -119.075103; captureRadius = 10; duration = 56; initialDepth = 700.355160; finalDepth = 699.419963; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:699.419963 # Seafloor depth:-739.419963 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 56.463859 meters # Minimum depth: 740.355160 meters looking forward 0.000000 meters along route # Maximum depth: 740.355160 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.355160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.967509; longitude = -119.074811; captureRadius = 10; duration = 56; initialDepth = 697.745477; finalDepth = 700.355160; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:700.35516 # Seafloor depth:-740.355160 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 56.463859 meters # Minimum depth: 737.745477 meters looking forward 0.000000 meters along route # Maximum depth: 737.745477 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.745477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.966930; longitude = -119.074498; captureRadius = 10; duration = 56; initialDepth = 701.147206; finalDepth = 697.745477; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:697.745477 # Seafloor depth:-737.745477 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 56.463859 meters # Minimum depth: 741.147206 meters looking forward 0.000000 meters along route # Maximum depth: 741.147206 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.147206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.966427; longitude = -119.074226; captureRadius = 10; duration = 56; initialDepth = 701.567346; finalDepth = 701.147206; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:701.147206 # Seafloor depth:-741.147206 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 56.463859 meters # Minimum depth: 741.567346 meters looking forward 0.000000 meters along route # Maximum depth: 741.567346 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.567346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.965886; longitude = -119.073934; captureRadius = 10; duration = 56; initialDepth = 705.358816; finalDepth = 701.567346; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:701.567346 # Seafloor depth:-741.567346 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 56.463859 meters # Minimum depth: 745.358816 meters looking forward 0.000000 meters along route # Maximum depth: 745.358816 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.358816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.965345; longitude = -119.073642; captureRadius = 10; duration = 56; initialDepth = 705.515557; finalDepth = 705.358816; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.358816 # Seafloor depth:-745.358816 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 56.463859 meters # Minimum depth: 745.515557 meters looking forward 0.000000 meters along route # Maximum depth: 745.515557 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.515557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.964923; longitude = -119.073414; captureRadius = 10; duration = 56; initialDepth = 706.365867; finalDepth = 705.515557; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.515557 # Seafloor depth:-745.515557 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 56.463859 meters # Minimum depth: 746.365867 meters looking forward 0.000000 meters along route # Maximum depth: 746.365867 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.365867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.964443; longitude = -119.073155; captureRadius = 10; duration = 56; initialDepth = 706.656280; finalDepth = 706.365867; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.365867 # Seafloor depth:-746.365867 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 56.463859 meters # Minimum depth: 746.656280 meters looking forward 0.000000 meters along route # Maximum depth: 746.656280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.656280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.963902; longitude = -119.072863; captureRadius = 10; duration = 56; initialDepth = 707.540956; finalDepth = 706.656280; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.65628 # Seafloor depth:-746.656280 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 56.463859 meters # Minimum depth: 747.540956 meters looking forward 0.000000 meters along route # Maximum depth: 747.540956 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.540956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.963318; longitude = -119.072547; captureRadius = 10; duration = 56; initialDepth = 707.021097; finalDepth = 707.540956; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:707.540956 # Seafloor depth:-747.540956 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 56.463859 meters # Minimum depth: 747.021097 meters looking forward 0.000000 meters along route # Maximum depth: 747.021097 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.021097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.962820; longitude = -119.072278; captureRadius = 10; duration = 56; initialDepth = 707.057002; finalDepth = 707.021097; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:707.021097 # Seafloor depth:-747.021097 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 56.463859 meters # Minimum depth: 747.057002 meters looking forward 0.000000 meters along route # Maximum depth: 747.057002 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.057002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.962279; longitude = -119.071986; captureRadius = 10; duration = 56; initialDepth = 706.536153; finalDepth = 707.057002; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:707.057002 # Seafloor depth:-747.057002 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 56.463859 meters # Minimum depth: 746.536153 meters looking forward 0.000000 meters along route # Maximum depth: 746.536153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.536153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.961738; longitude = -119.071694; captureRadius = 10; duration = 56; initialDepth = 709.958897; finalDepth = 706.536153; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.536153 # Seafloor depth:-746.536153 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 56.463859 meters # Minimum depth: 749.958897 meters looking forward 0.000000 meters along route # Maximum depth: 749.958897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.958897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.961311; longitude = -119.071463; captureRadius = 10; duration = 56; initialDepth = 713.085776; finalDepth = 709.958897; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.958897 # Seafloor depth:-749.958897 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 56.463859 meters # Minimum depth: 753.085776 meters looking forward 0.000000 meters along route # Maximum depth: 753.085776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.085776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.960836; longitude = -119.071207; captureRadius = 10; duration = 56; initialDepth = 714.824152; finalDepth = 713.085776; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.085776 # Seafloor depth:-753.085776 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 56.463859 meters # Minimum depth: 754.824152 meters looking forward 0.000000 meters along route # Maximum depth: 754.824152 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.824152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.960295; longitude = -119.070915; captureRadius = 10; duration = 56; initialDepth = 717.299418; finalDepth = 714.824152; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:714.824152 # Seafloor depth:-754.824152 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 56.463859 meters # Minimum depth: 757.299418 meters looking forward 0.000000 meters along route # Maximum depth: 757.299418 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.299418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.959705; longitude = -119.070596; captureRadius = 10; duration = 56; initialDepth = 715.884227; finalDepth = 717.299418; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:717.299418 # Seafloor depth:-757.299418 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 56.463859 meters # Minimum depth: 755.884227 meters looking forward 0.000000 meters along route # Maximum depth: 755.884227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.884227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.959213; longitude = -119.070330; captureRadius = 10; duration = 56; initialDepth = 713.604275; finalDepth = 715.884227; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:715.884227 # Seafloor depth:-755.884227 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 56.463859 meters # Minimum depth: 753.604275 meters looking forward 0.000000 meters along route # Maximum depth: 753.604275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.604275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.958672; longitude = -119.070038; captureRadius = 10; duration = 56; initialDepth = 713.079978; finalDepth = 713.604275; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.604275 # Seafloor depth:-753.604275 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 56.463859 meters # Minimum depth: 753.079978 meters looking forward 0.000000 meters along route # Maximum depth: 753.079978 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.079978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.958099; longitude = -119.069729; captureRadius = 10; duration = 56; initialDepth = 712.896420; finalDepth = 713.079978; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.079978 # Seafloor depth:-753.079978 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 56.463859 meters # Minimum depth: 752.896420 meters looking forward 0.000000 meters along route # Maximum depth: 752.896420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.896420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.957590; longitude = -119.069453; captureRadius = 10; duration = 56; initialDepth = 712.866360; finalDepth = 712.896420; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:712.89642 # Seafloor depth:-752.896420 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 56.463859 meters # Minimum depth: 752.866360 meters looking forward 0.000000 meters along route # Maximum depth: 752.866360 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.866360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.957049; longitude = -119.069161; captureRadius = 10; duration = 56; initialDepth = 712.822266; finalDepth = 712.866360; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:712.86636 # Seafloor depth:-752.866360 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 49 # Segment length 56.463859 meters # Minimum depth: 752.822266 meters looking forward 0.000000 meters along route # Maximum depth: 752.822266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.822266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.956628; longitude = -119.068934; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 712.638161; finalDepth = 712.822266; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:712.822266 # Seafloor depth:-752.822266 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 56.463859 meters # Minimum depth: 752.638161 meters looking forward 0.000000 meters along route # Maximum depth: 752.638161 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.638161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.956665; longitude = -119.069295; captureRadius = 10; duration = 56; initialDepth = 712.111303; finalDepth = 712.638161; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:712.638161 # Seafloor depth:-752.638161 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 56.463859 meters # Minimum depth: 752.111303 meters looking forward 0.000000 meters along route # Maximum depth: 752.111303 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.111303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.956733; longitude = -119.069946; captureRadius = 10; duration = 56; initialDepth = 711.370117; finalDepth = 712.111303; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:712.111303 # Seafloor depth:-752.111303 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 48 # Segment length 56.463859 meters # Minimum depth: 751.370117 meters looking forward 0.000000 meters along route # Maximum depth: 751.370117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.370117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.956808; longitude = -119.070668; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 711.225976; finalDepth = 711.370117; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:711.370117 # Seafloor depth:-751.370117 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 56.463859 meters # Minimum depth: 751.225976 meters looking forward 0.000000 meters along route # Maximum depth: 751.225976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.225976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.957049; longitude = -119.070800; captureRadius = 10; duration = 56; initialDepth = 710.872535; finalDepth = 711.225976; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:711.225976 # Seafloor depth:-751.225976 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 56.463859 meters # Minimum depth: 750.872535 meters looking forward 0.000000 meters along route # Maximum depth: 750.872535 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.872535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.957469; longitude = -119.071030; captureRadius = 10; duration = 56; initialDepth = 710.265159; finalDepth = 710.872535; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.872535 # Seafloor depth:-750.872535 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 56.463859 meters # Minimum depth: 750.265159 meters looking forward 0.000000 meters along route # Maximum depth: 750.265159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.265159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.957951; longitude = -119.071293; captureRadius = 10; duration = 56; initialDepth = 709.008840; finalDepth = 710.265159; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.265159 # Seafloor depth:-750.265159 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 56.463859 meters # Minimum depth: 749.008840 meters looking forward 0.000000 meters along route # Maximum depth: 749.008840 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.008840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.958492; longitude = -119.071589; captureRadius = 10; duration = 56; initialDepth = 706.281316; finalDepth = 709.008840; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.00884 # Seafloor depth:-749.008840 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 56.463859 meters # Minimum depth: 746.281316 meters looking forward 0.000000 meters along route # Maximum depth: 746.281316 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.281316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.959033; longitude = -119.071885; captureRadius = 10; duration = 56; initialDepth = 703.590260; finalDepth = 706.281316; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.281316 # Seafloor depth:-746.281316 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 56.463859 meters # Minimum depth: 743.590260 meters looking forward 0.000000 meters along route # Maximum depth: 743.590260 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.590260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.959451; longitude = -119.072114; captureRadius = 10; duration = 56; initialDepth = 705.888756; finalDepth = 703.590260; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:703.59026 # Seafloor depth:-743.590260 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 56.463859 meters # Minimum depth: 745.888756 meters looking forward 0.000000 meters along route # Maximum depth: 745.888756 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.888756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.959934; longitude = -119.072378; captureRadius = 10; duration = 56; initialDepth = 702.739872; finalDepth = 705.888756; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:705.888756 # Seafloor depth:-745.888756 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 56.463859 meters # Minimum depth: 742.739872 meters looking forward 0.000000 meters along route # Maximum depth: 742.739872 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.739872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.960475; longitude = -119.072674; captureRadius = 10; duration = 56; initialDepth = 700.364686; finalDepth = 702.739872; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:702.739872 # Seafloor depth:-742.739872 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 56.463859 meters # Minimum depth: 740.364686 meters looking forward 0.000000 meters along route # Maximum depth: 740.364686 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.364686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.961016; longitude = -119.072970; captureRadius = 10; duration = 56; initialDepth = 699.631286; finalDepth = 700.364686; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:700.364686 # Seafloor depth:-740.364686 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 56.463859 meters # Minimum depth: 739.631286 meters looking forward 0.000000 meters along route # Maximum depth: 739.631286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.631286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.961433; longitude = -119.073198; captureRadius = 10; duration = 56; initialDepth = 698.982069; finalDepth = 699.631286; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:699.631286 # Seafloor depth:-739.631286 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 56.463859 meters # Minimum depth: 738.982069 meters looking forward 0.000000 meters along route # Maximum depth: 738.982069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.982069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.961918; longitude = -119.073463; captureRadius = 10; duration = 56; initialDepth = 697.660502; finalDepth = 698.982069; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.982069 # Seafloor depth:-738.982069 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 56.463859 meters # Minimum depth: 737.660502 meters looking forward 0.000000 meters along route # Maximum depth: 737.660502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.660502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.962459; longitude = -119.073759; captureRadius = 10; duration = 56; initialDepth = 696.214918; finalDepth = 697.660502; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:697.660502 # Seafloor depth:-737.660502 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 56.463859 meters # Minimum depth: 736.214918 meters looking forward 0.000000 meters along route # Maximum depth: 736.214918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.214918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.963000; longitude = -119.074055; captureRadius = 10; duration = 56; initialDepth = 694.120848; finalDepth = 696.214918; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:696.214918 # Seafloor depth:-736.214918 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 56.463859 meters # Minimum depth: 734.120848 meters looking forward 0.000000 meters along route # Maximum depth: 734.120848 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.120848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.963415; longitude = -119.074282; captureRadius = 10; duration = 56; initialDepth = 694.035638; finalDepth = 694.120848; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.120848 # Seafloor depth:-734.120848 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 56.463859 meters # Minimum depth: 734.035638 meters looking forward 0.000000 meters along route # Maximum depth: 734.035638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.035638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.963902; longitude = -119.074548; captureRadius = 10; duration = 56; initialDepth = 691.698166; finalDepth = 694.035638; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.035638 # Seafloor depth:-734.035638 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 56.463859 meters # Minimum depth: 731.698166 meters looking forward 0.000000 meters along route # Maximum depth: 731.698166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.698166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.964443; longitude = -119.074844; captureRadius = 10; duration = 56; initialDepth = 690.906458; finalDepth = 691.698166; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:691.698166 # Seafloor depth:-731.698166 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 56.463859 meters # Minimum depth: 730.906458 meters looking forward 0.000000 meters along route # Maximum depth: 730.906458 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.906458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.964984; longitude = -119.075140; captureRadius = 10; duration = 56; initialDepth = 693.776312; finalDepth = 690.906458; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:690.906458 # Seafloor depth:-730.906458 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 56.463859 meters # Minimum depth: 733.776312 meters looking forward 0.000000 meters along route # Maximum depth: 733.776312 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.776312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.965397; longitude = -119.075366; captureRadius = 10; duration = 56; initialDepth = 690.586316; finalDepth = 693.776312; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:693.776312 # Seafloor depth:-733.776312 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 56.463859 meters # Minimum depth: 730.586316 meters looking forward 0.000000 meters along route # Maximum depth: 730.586316 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.586316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.965886; longitude = -119.075633; captureRadius = 10; duration = 56; initialDepth = 686.382318; finalDepth = 690.586316; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:690.586316 # Seafloor depth:-730.586316 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 56.463859 meters # Minimum depth: 726.382318 meters looking forward 0.000000 meters along route # Maximum depth: 726.382318 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.382318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.966427; longitude = -119.075929; captureRadius = 10; duration = 56; initialDepth = 688.440847; finalDepth = 686.382318; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:686.382318 # Seafloor depth:-726.382318 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 56.463859 meters # Minimum depth: 728.440847 meters looking forward 0.000000 meters along route # Maximum depth: 728.440847 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.440847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.966968; longitude = -119.076225; captureRadius = 10; duration = 56; initialDepth = 683.500472; finalDepth = 688.440847; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.440847 # Seafloor depth:-728.440847 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 56.463859 meters # Minimum depth: 723.500472 meters looking forward 0.000000 meters along route # Maximum depth: 723.500472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.500472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.967378; longitude = -119.076450; captureRadius = 10; duration = 56; initialDepth = 682.269997; finalDepth = 683.500472; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:683.500472 # Seafloor depth:-723.500472 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 56.463859 meters # Minimum depth: 722.269997 meters looking forward 0.000000 meters along route # Maximum depth: 722.269997 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.269997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.967869; longitude = -119.076718; captureRadius = 10; duration = 56; initialDepth = 686.444580; finalDepth = 682.269997; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:682.269997 # Seafloor depth:-722.269997 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 56.463859 meters # Minimum depth: 726.444580 meters looking forward 0.000000 meters along route # Maximum depth: 726.444580 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.444580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.968410; longitude = -119.077014; captureRadius = 10; duration = 56; initialDepth = 687.523361; finalDepth = 686.444580; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:686.44458 # Seafloor depth:-726.444580 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 47 # Segment length 56.463859 meters # Minimum depth: 727.523361 meters looking forward 0.000000 meters along route # Maximum depth: 727.523361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.523361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.968831; longitude = -119.077244; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 685.691296; finalDepth = 687.523361; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:687.523361 # Seafloor depth:-727.523361 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 725.691296 meters looking forward 0.000000 meters along route # Maximum depth: 725.691296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.691296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.969312; longitude = -119.077227; captureRadius = 10; duration = 56; initialDepth = 687.173046; finalDepth = 685.691296; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:685.691296 # Seafloor depth:-725.691296 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 727.173046 meters looking forward 0.000000 meters along route # Maximum depth: 727.173046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.173046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.969853; longitude = -119.077208; captureRadius = 10; duration = 56; initialDepth = 689.103836; finalDepth = 687.173046; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:687.173046 # Seafloor depth:-727.173046 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 729.103836 meters looking forward 0.000000 meters along route # Maximum depth: 729.103836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.103836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.970394; longitude = -119.077189; captureRadius = 10; duration = 56; initialDepth = 689.576747; finalDepth = 689.103836; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:689.103836 # Seafloor depth:-729.103836 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 729.576747 meters looking forward 0.000000 meters along route # Maximum depth: 729.576747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.576747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.970935; longitude = -119.077170; captureRadius = 10; duration = 56; initialDepth = 690.380896; finalDepth = 689.576747; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:689.576747 # Seafloor depth:-729.576747 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 730.380896 meters looking forward 0.000000 meters along route # Maximum depth: 730.380896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.380896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.971476; longitude = -119.077151; captureRadius = 10; duration = 56; initialDepth = 689.628434; finalDepth = 690.380896; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:690.380896 # Seafloor depth:-730.380896 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 729.628434 meters looking forward 0.000000 meters along route # Maximum depth: 729.628434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.628434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.972017; longitude = -119.077131; captureRadius = 10; duration = 56; initialDepth = 690.667273; finalDepth = 689.628434; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:689.628434 # Seafloor depth:-729.628434 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 730.667273 meters looking forward 0.000000 meters along route # Maximum depth: 730.667273 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.667273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.972558; longitude = -119.077112; captureRadius = 10; duration = 56; initialDepth = 691.439478; finalDepth = 690.667273; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:690.667273 # Seafloor depth:-730.667273 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 731.439478 meters looking forward 0.000000 meters along route # Maximum depth: 731.439478 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.439478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.973099; longitude = -119.077093; captureRadius = 10; duration = 56; initialDepth = 687.709050; finalDepth = 691.439478; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:691.439478 # Seafloor depth:-731.439478 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 727.709050 meters looking forward 0.000000 meters along route # Maximum depth: 727.709050 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.709050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.973640; longitude = -119.077074; captureRadius = 10; duration = 56; initialDepth = 685.646501; finalDepth = 687.709050; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:687.70905 # Seafloor depth:-727.709050 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 725.646501 meters looking forward 0.000000 meters along route # Maximum depth: 725.646501 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.646501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974182; longitude = -119.077055; captureRadius = 10; duration = 56; initialDepth = 683.798488; finalDepth = 685.646501; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:685.646501 # Seafloor depth:-725.646501 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 723.798488 meters looking forward 0.000000 meters along route # Maximum depth: 723.798488 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.798488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.974723; longitude = -119.077036; captureRadius = 10; duration = 56; initialDepth = 681.222249; finalDepth = 683.798488; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:683.798488 # Seafloor depth:-723.798488 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 721.222249 meters looking forward 0.000000 meters along route # Maximum depth: 721.222249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.222249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975264; longitude = -119.077017; captureRadius = 10; duration = 56; initialDepth = 677.118847; finalDepth = 681.222249; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:681.222249 # Seafloor depth:-721.222249 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 717.118847 meters looking forward 0.000000 meters along route # Maximum depth: 717.118847 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 677.118847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.975805; longitude = -119.076998; captureRadius = 10; duration = 56; initialDepth = 677.120069; finalDepth = 677.118847; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:677.118847 # Seafloor depth:-717.118847 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 717.120069 meters looking forward 0.000000 meters along route # Maximum depth: 717.120069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 677.120069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976346; longitude = -119.076979; captureRadius = 10; duration = 56; initialDepth = 675.676464; finalDepth = 677.120069; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:677.120069 # Seafloor depth:-717.120069 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 715.676464 meters looking forward 0.000000 meters along route # Maximum depth: 715.676464 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.676464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.976887; longitude = -119.076959; captureRadius = 10; duration = 56; initialDepth = 674.014721; finalDepth = 675.676464; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:675.676464 # Seafloor depth:-715.676464 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 714.014721 meters looking forward 0.000000 meters along route # Maximum depth: 714.014721 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.014721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977428; longitude = -119.076940; captureRadius = 10; duration = 56; initialDepth = 673.346347; finalDepth = 674.014721; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:674.014721 # Seafloor depth:-714.014721 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 713.346347 meters looking forward 0.000000 meters along route # Maximum depth: 713.346347 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.346347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.977969; longitude = -119.076921; captureRadius = 10; duration = 56; initialDepth = 674.067648; finalDepth = 673.346347; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:673.346347 # Seafloor depth:-713.346347 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 714.067648 meters looking forward 0.000000 meters along route # Maximum depth: 714.067648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.067648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.978510; longitude = -119.076902; captureRadius = 10; duration = 56; initialDepth = 672.841064; finalDepth = 674.067648; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:674.067648 # Seafloor depth:-714.067648 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 712.841064 meters looking forward 0.000000 meters along route # Maximum depth: 712.841064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.841064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.979051; longitude = -119.076883; captureRadius = 10; duration = 56; initialDepth = 673.624922; finalDepth = 672.841064; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:672.841064 # Seafloor depth:-712.841064 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 713.624922 meters looking forward 0.000000 meters along route # Maximum depth: 713.624922 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.624922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.979592; longitude = -119.076864; captureRadius = 10; duration = 56; initialDepth = 675.160541; finalDepth = 673.624922; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:673.624922 # Seafloor depth:-713.624922 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 715.160541 meters looking forward 0.000000 meters along route # Maximum depth: 715.160541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.160541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.980133; longitude = -119.076845; captureRadius = 10; duration = 56; initialDepth = 676.345152; finalDepth = 675.160541; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:675.160541 # Seafloor depth:-715.160541 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 716.345152 meters looking forward 0.000000 meters along route # Maximum depth: 716.345152 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.345152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.980674; longitude = -119.076826; captureRadius = 10; duration = 56; initialDepth = 675.303949; finalDepth = 676.345152; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:676.345152 # Seafloor depth:-716.345152 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 715.303949 meters looking forward 0.000000 meters along route # Maximum depth: 715.303949 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.303949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.981215; longitude = -119.076807; captureRadius = 10; duration = 56; initialDepth = 675.710861; finalDepth = 675.303949; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:675.303949 # Seafloor depth:-715.303949 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 715.710861 meters looking forward 0.000000 meters along route # Maximum depth: 715.710861 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.710861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.981756; longitude = -119.076787; captureRadius = 10; duration = 56; initialDepth = 674.721648; finalDepth = 675.710861; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:675.710861 # Seafloor depth:-715.710861 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 714.721648 meters looking forward 0.000000 meters along route # Maximum depth: 714.721648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.721648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.982297; longitude = -119.076768; captureRadius = 10; duration = 56; initialDepth = 674.006885; finalDepth = 674.721648; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:674.721648 # Seafloor depth:-714.721648 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 714.006885 meters looking forward 0.000000 meters along route # Maximum depth: 714.006885 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.006885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.982838; longitude = -119.076749; captureRadius = 10; duration = 56; initialDepth = 672.105932; finalDepth = 674.006885; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:674.006885 # Seafloor depth:-714.006885 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 712.105932 meters looking forward 0.000000 meters along route # Maximum depth: 712.105932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.105932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.983379; longitude = -119.076730; captureRadius = 10; duration = 56; initialDepth = 670.839813; finalDepth = 672.105932; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:672.105932 # Seafloor depth:-712.105932 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 710.839813 meters looking forward 0.000000 meters along route # Maximum depth: 710.839813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 670.839813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.983920; longitude = -119.076711; captureRadius = 10; duration = 56; initialDepth = 670.608140; finalDepth = 670.839813; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:670.839813 # Seafloor depth:-710.839813 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 710.608140 meters looking forward 0.000000 meters along route # Maximum depth: 710.608140 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 670.608140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.984461; longitude = -119.076692; captureRadius = 10; duration = 56; initialDepth = 670.295565; finalDepth = 670.608140; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:670.60814 # Seafloor depth:-710.608140 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 710.295565 meters looking forward 0.000000 meters along route # Maximum depth: 710.295565 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 670.295565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.985002; longitude = -119.076673; captureRadius = 10; duration = 56; initialDepth = 669.669010; finalDepth = 670.295565; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:670.295565 # Seafloor depth:-710.295565 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 709.669010 meters looking forward 0.000000 meters along route # Maximum depth: 709.669010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 669.669010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.985543; longitude = -119.076654; captureRadius = 10; duration = 56; initialDepth = 667.874260; finalDepth = 669.669010; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:669.66901 # Seafloor depth:-709.669010 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 707.874260 meters looking forward 0.000000 meters along route # Maximum depth: 707.874260 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 667.874260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.986084; longitude = -119.076635; captureRadius = 10; duration = 56; initialDepth = 665.450320; finalDepth = 667.874260; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:667.87426 # Seafloor depth:-707.874260 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 705.450320 meters looking forward 0.000000 meters along route # Maximum depth: 705.450320 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.450320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.986625; longitude = -119.076615; captureRadius = 10; duration = 56; initialDepth = 663.014333; finalDepth = 665.450320; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:665.45032 # Seafloor depth:-705.450320 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 703.014333 meters looking forward 0.000000 meters along route # Maximum depth: 703.014333 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 663.014333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.987166; longitude = -119.076596; captureRadius = 10; duration = 56; initialDepth = 662.248752; finalDepth = 663.014333; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:663.014333 # Seafloor depth:-703.014333 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 702.248752 meters looking forward 0.000000 meters along route # Maximum depth: 702.248752 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 662.248752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.987707; longitude = -119.076577; captureRadius = 10; duration = 56; initialDepth = 660.137359; finalDepth = 662.248752; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:662.248752 # Seafloor depth:-702.248752 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 700.137359 meters looking forward 0.000000 meters along route # Maximum depth: 700.137359 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 660.137359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.988248; longitude = -119.076558; captureRadius = 10; duration = 56; initialDepth = 658.512530; finalDepth = 660.137359; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:660.137359 # Seafloor depth:-700.137359 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 56.463859 meters # Minimum depth: 698.512530 meters looking forward 0.000000 meters along route # Maximum depth: 698.512530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 658.512530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.988789; longitude = -119.076539; captureRadius = 10; duration = 56; initialDepth = 657.477722; finalDepth = 658.512530; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:658.51253 # Seafloor depth:-698.512530 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 46 # Segment length 56.463859 meters # Minimum depth: 697.477722 meters looking forward 0.000000 meters along route # Maximum depth: 697.477722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 657.477722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.989270; longitude = -119.076522; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 659.301979; finalDepth = 657.477722; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:657.477722 # Seafloor depth:-697.477722 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 56.463859 meters # Minimum depth: 699.301979 meters looking forward 0.000000 meters along route # Maximum depth: 699.301979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 659.301979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.989582; longitude = -119.076666; captureRadius = 10; duration = 56; initialDepth = 655.260048; finalDepth = 659.301979; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:659.301979 # Seafloor depth:-699.301979 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 56.463859 meters # Minimum depth: 695.260048 meters looking forward 0.000000 meters along route # Maximum depth: 695.260048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 655.260048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.990052; longitude = -119.076883; captureRadius = 10; duration = 56; initialDepth = 653.906306; finalDepth = 655.260048; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:655.260048 # Seafloor depth:-695.260048 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 56.463859 meters # Minimum depth: 693.906306 meters looking forward 0.000000 meters along route # Maximum depth: 693.906306 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.906306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.990593; longitude = -119.077134; captureRadius = 10; duration = 56; initialDepth = 652.876415; finalDepth = 653.906306; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:653.906306 # Seafloor depth:-693.906306 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 56.463859 meters # Minimum depth: 692.876415 meters looking forward 0.000000 meters along route # Maximum depth: 692.876415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 652.876415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.991134; longitude = -119.077384; captureRadius = 10; duration = 56; initialDepth = 653.115524; finalDepth = 652.876415; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:652.876415 # Seafloor depth:-692.876415 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 45 # Segment length 56.463859 meters # Minimum depth: 693.115524 meters looking forward 0.000000 meters along route # Maximum depth: 693.115524 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.115524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.991615; longitude = -119.077606; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 653.038666; finalDepth = 653.115524; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:653.115524 # Seafloor depth:-693.115524 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 56.463859 meters # Minimum depth: 693.038666 meters looking forward 0.000000 meters along route # Maximum depth: 693.038666 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.038666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.991675; longitude = -119.077676; captureRadius = 10; duration = 56; initialDepth = 649.567507; finalDepth = 653.038666; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:653.038666 # Seafloor depth:-693.038666 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 56.463859 meters # Minimum depth: 689.567507 meters looking forward 0.000000 meters along route # Maximum depth: 689.567507 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.567507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.992036; longitude = -119.078098; captureRadius = 10; duration = 56; initialDepth = 646.347123; finalDepth = 649.567507; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:649.567507 # Seafloor depth:-689.567507 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 56.463859 meters # Minimum depth: 686.347123 meters looking forward 0.000000 meters along route # Maximum depth: 686.347123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 646.347123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.992396; longitude = -119.078521; captureRadius = 10; duration = 56; initialDepth = 646.260200; finalDepth = 646.347123; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:646.347123 # Seafloor depth:-686.347123 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 56.463859 meters # Minimum depth: 686.260200 meters looking forward 0.000000 meters along route # Maximum depth: 686.260200 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 646.260200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.992757; longitude = -119.078943; captureRadius = 10; duration = 56; initialDepth = 644.045257; finalDepth = 646.260200; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:646.2602 # Seafloor depth:-686.260200 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 56.463859 meters # Minimum depth: 684.045257 meters looking forward 0.000000 meters along route # Maximum depth: 684.045257 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.045257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.993118; longitude = -119.079365; captureRadius = 10; duration = 56; initialDepth = 644.315860; finalDepth = 644.045257; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:644.045257 # Seafloor depth:-684.045257 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 56.463859 meters # Minimum depth: 684.315860 meters looking forward 0.000000 meters along route # Maximum depth: 684.315860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.315860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.993478; longitude = -119.079788; captureRadius = 10; duration = 56; initialDepth = 644.873428; finalDepth = 644.315860; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:644.31586 # Seafloor depth:-684.315860 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 56.463859 meters # Minimum depth: 684.873428 meters looking forward 0.000000 meters along route # Maximum depth: 684.873428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.873428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.993899; longitude = -119.080280; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 642.920694; finalDepth = 644.873428; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:644.873428 # Seafloor depth:-684.873428 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 56.463859 meters # Minimum depth: 682.920694 meters looking forward 0.000000 meters along route # Maximum depth: 682.920694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.920694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.993973; longitude = -119.080569; captureRadius = 10; duration = 56; initialDepth = 636.758090; finalDepth = 642.920694; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:642.920694 # Seafloor depth:-682.920694 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 56.463859 meters # Minimum depth: 676.758090 meters looking forward 0.000000 meters along route # Maximum depth: 676.758090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 636.758090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994139; longitude = -119.081219; captureRadius = 10; duration = 56; initialDepth = 637.636518; finalDepth = 636.758090; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:636.75809 # Seafloor depth:-676.758090 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 56.463859 meters # Minimum depth: 677.636518 meters looking forward 0.000000 meters along route # Maximum depth: 677.636518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 637.636518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994305; longitude = -119.081870; captureRadius = 10; duration = 56; initialDepth = 647.689096; finalDepth = 637.636518; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:637.636518 # Seafloor depth:-677.636518 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 56.463859 meters # Minimum depth: 687.689096 meters looking forward 0.000000 meters along route # Maximum depth: 687.689096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 647.689096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994471; longitude = -119.082520; captureRadius = 10; duration = 56; initialDepth = 649.501640; finalDepth = 647.689096; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:647.689096 # Seafloor depth:-687.689096 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 56.463859 meters # Minimum depth: 689.501640 meters looking forward 0.000000 meters along route # Maximum depth: 689.501640 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.501640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994637; longitude = -119.083170; captureRadius = 10; duration = 56; initialDepth = 647.637833; finalDepth = 649.501640; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:649.50164 # Seafloor depth:-689.501640 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 56.463859 meters # Minimum depth: 687.637833 meters looking forward 0.000000 meters along route # Maximum depth: 687.637833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 647.637833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994803; longitude = -119.083821; captureRadius = 10; duration = 56; initialDepth = 645.433190; finalDepth = 647.637833; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:647.637833 # Seafloor depth:-687.637833 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 56.463859 meters # Minimum depth: 685.433190 meters looking forward 0.000000 meters along route # Maximum depth: 685.433190 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 645.433190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.994969; longitude = -119.084471; captureRadius = 10; duration = 56; initialDepth = 646.280529; finalDepth = 645.433190; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:645.43319 # Seafloor depth:-685.433190 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 56.463859 meters # Minimum depth: 686.280529 meters looking forward 0.000000 meters along route # Maximum depth: 686.280529 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 646.280529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995101; longitude = -119.084989; captureRadius = 10; duration = 56; initialDepth = 646.254127; finalDepth = 646.280529; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:646.280529 # Seafloor depth:-686.280529 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 56.463859 meters # Minimum depth: 686.254127 meters looking forward 0.000000 meters along route # Maximum depth: 686.254127 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 646.254127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995246; longitude = -119.085555; captureRadius = 10; duration = 56; initialDepth = 644.101096; finalDepth = 646.254127; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:646.254127 # Seafloor depth:-686.254127 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 56.463859 meters # Minimum depth: 684.101096 meters looking forward 0.000000 meters along route # Maximum depth: 684.101096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.101096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995412; longitude = -119.086206; captureRadius = 10; duration = 56; initialDepth = 644.178123; finalDepth = 644.101096; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:644.101096 # Seafloor depth:-684.101096 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 56.463859 meters # Minimum depth: 684.178123 meters looking forward 0.000000 meters along route # Maximum depth: 684.178123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.178123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995578; longitude = -119.086856; captureRadius = 10; duration = 56; initialDepth = 642.687683; finalDepth = 644.178123; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:644.178123 # Seafloor depth:-684.178123 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 43 # Segment length 56.463859 meters # Minimum depth: 682.687683 meters looking forward 0.000000 meters along route # Maximum depth: 682.687683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.687683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995763; longitude = -119.087579; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 644.800497; finalDepth = 642.687683; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:642.687683 # Seafloor depth:-682.687683 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 56.463859 meters # Minimum depth: 684.800497 meters looking forward 0.000000 meters along route # Maximum depth: 684.800497 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.800497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.995823; longitude = -119.087742; captureRadius = 10; duration = 56; initialDepth = 643.194300; finalDepth = 644.800497; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:644.800497 # Seafloor depth:-684.800497 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 56.463859 meters # Minimum depth: 683.194300 meters looking forward 0.000000 meters along route # Maximum depth: 683.194300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 643.194300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996055; longitude = -119.088374; captureRadius = 10; duration = 56; initialDepth = 644.367514; finalDepth = 643.194300; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:643.1943 # Seafloor depth:-683.194300 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 56.463859 meters # Minimum depth: 684.367514 meters looking forward 0.000000 meters along route # Maximum depth: 684.367514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.367514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996295; longitude = -119.089024; captureRadius = 10; duration = 56; initialDepth = 644.620725; finalDepth = 644.367514; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:644.367514 # Seafloor depth:-684.367514 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 56.463859 meters # Minimum depth: 684.620725 meters looking forward 0.000000 meters along route # Maximum depth: 684.620725 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.620725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996534; longitude = -119.089674; captureRadius = 10; duration = 56; initialDepth = 644.356583; finalDepth = 644.620725; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:644.620725 # Seafloor depth:-684.620725 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 56.463859 meters # Minimum depth: 684.356583 meters looking forward 0.000000 meters along route # Maximum depth: 684.356583 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.356583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996725; longitude = -119.090193; captureRadius = 10; duration = 56; initialDepth = 644.484929; finalDepth = 644.356583; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:644.356583 # Seafloor depth:-684.356583 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 56.463859 meters # Minimum depth: 684.484929 meters looking forward 0.000000 meters along route # Maximum depth: 684.484929 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.484929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.996932; longitude = -119.090758; captureRadius = 10; duration = 56; initialDepth = 644.434174; finalDepth = 644.484929; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:644.484929 # Seafloor depth:-684.484929 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 56.463859 meters # Minimum depth: 684.434174 meters looking forward 0.000000 meters along route # Maximum depth: 684.434174 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.434174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997145; longitude = -119.091336; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 644.621472; finalDepth = 644.434174; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:644.434174 # Seafloor depth:-684.434174 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 56.463859 meters # Minimum depth: 684.621472 meters looking forward 0.000000 meters along route # Maximum depth: 684.621472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.621472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997266; longitude = -119.091680; captureRadius = 10; duration = 56; initialDepth = 643.130519; finalDepth = 644.621472; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:644.621472 # Seafloor depth:-684.621472 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 56.463859 meters # Minimum depth: 683.130519 meters looking forward 0.000000 meters along route # Maximum depth: 683.130519 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 643.130519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997446; longitude = -119.092195; captureRadius = 10; duration = 56; initialDepth = 643.887149; finalDepth = 643.130519; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:643.130519 # Seafloor depth:-683.130519 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 56.463859 meters # Minimum depth: 683.887149 meters looking forward 0.000000 meters along route # Maximum depth: 683.887149 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 643.887149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997626; longitude = -119.092710; captureRadius = 10; duration = 56; initialDepth = 642.262661; finalDepth = 643.887149; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:643.887149 # Seafloor depth:-683.887149 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 56.463859 meters # Minimum depth: 682.262661 meters looking forward 0.000000 meters along route # Maximum depth: 682.262661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.262661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997807; longitude = -119.093225; captureRadius = 10; duration = 56; initialDepth = 641.502595; finalDepth = 642.262661; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:642.262661 # Seafloor depth:-682.262661 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 56.463859 meters # Minimum depth: 681.502595 meters looking forward 0.000000 meters along route # Maximum depth: 681.502595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.502595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.997987; longitude = -119.093740; captureRadius = 10; duration = 56; initialDepth = 641.342360; finalDepth = 641.502595; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:641.502595 # Seafloor depth:-681.502595 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 56.463859 meters # Minimum depth: 681.342360 meters looking forward 0.000000 meters along route # Maximum depth: 681.342360 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.342360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998167; longitude = -119.094255; captureRadius = 10; duration = 56; initialDepth = 641.077128; finalDepth = 641.342360; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:641.34236 # Seafloor depth:-681.342360 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 56.463859 meters # Minimum depth: 681.077128 meters looking forward 0.000000 meters along route # Maximum depth: 681.077128 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.077128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998385; longitude = -119.094877; captureRadius = 10; duration = 56; initialDepth = 640.781464; finalDepth = 641.077128; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:641.077128 # Seafloor depth:-681.077128 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 56.463859 meters # Minimum depth: 680.781464 meters looking forward 0.000000 meters along route # Maximum depth: 680.781464 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 640.781464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998588; longitude = -119.095456; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 640.300549; finalDepth = 640.781464; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:640.781464 # Seafloor depth:-680.781464 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 56.463859 meters # Minimum depth: 680.300549 meters looking forward 0.000000 meters along route # Maximum depth: 680.300549 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 640.300549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.998889; longitude = -119.095611; captureRadius = 10; duration = 56; initialDepth = 638.560730; finalDepth = 640.300549; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:640.300549 # Seafloor depth:-680.300549 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 56.463859 meters # Minimum depth: 678.560730 meters looking forward 0.000000 meters along route # Maximum depth: 678.560730 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 638.560730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999430; longitude = -119.095889; captureRadius = 10; duration = 56; initialDepth = 635.805420; finalDepth = 638.560730; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:638.56073 # Seafloor depth:-678.560730 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 56.463859 meters # Minimum depth: 675.805420 meters looking forward 0.000000 meters along route # Maximum depth: 675.805420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.805420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999851; longitude = -119.096106; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 634.957834; finalDepth = 635.805420; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:635.80542 # Seafloor depth:-675.805420 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 56.463859 meters # Minimum depth: 674.957834 meters looking forward 0.000000 meters along route # Maximum depth: 674.957834 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.957834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000331; longitude = -119.096059; captureRadius = 10; duration = 56; initialDepth = 635.351450; finalDepth = 634.957834; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:634.957834 # Seafloor depth:-674.957834 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 56.463859 meters # Minimum depth: 675.351450 meters looking forward 0.000000 meters along route # Maximum depth: 675.351450 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.351450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000872; longitude = -119.096006; captureRadius = 10; duration = 56; initialDepth = 634.536339; finalDepth = 635.351450; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:635.35145 # Seafloor depth:-675.351450 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 56.463859 meters # Minimum depth: 674.536339 meters looking forward 0.000000 meters along route # Maximum depth: 674.536339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.536339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001324; longitude = -119.095961; captureRadius = 10; duration = 56; initialDepth = 633.221820; finalDepth = 634.536339; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:634.536339 # Seafloor depth:-674.536339 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 56.463859 meters # Minimum depth: 673.221820 meters looking forward 0.000000 meters along route # Maximum depth: 673.221820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 633.221820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001774; longitude = -119.095917; captureRadius = 10; duration = 56; initialDepth = 632.797850; finalDepth = 633.221820; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:633.22182 # Seafloor depth:-673.221820 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 56.463859 meters # Minimum depth: 672.797850 meters looking forward 0.000000 meters along route # Maximum depth: 672.797850 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 632.797850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002315; longitude = -119.095864; captureRadius = 10; duration = 56; initialDepth = 630.557617; finalDepth = 632.797850; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:632.79785 # Seafloor depth:-672.797850 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 56.463859 meters # Minimum depth: 670.557617 meters looking forward 0.000000 meters along route # Maximum depth: 670.557617 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.557617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002796; longitude = -119.095817; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 631.984707; finalDepth = 630.557617; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:630.557617 # Seafloor depth:-670.557617 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 56.463859 meters # Minimum depth: 671.984707 meters looking forward 0.000000 meters along route # Maximum depth: 671.984707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 631.984707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002793; longitude = -119.095745; captureRadius = 10; duration = 56; initialDepth = 634.740661; finalDepth = 631.984707; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:631.984707 # Seafloor depth:-671.984707 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 56.463859 meters # Minimum depth: 674.740661 meters looking forward 0.000000 meters along route # Maximum depth: 674.740661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.740661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002767; longitude = -119.095094; captureRadius = 10; duration = 56; initialDepth = 631.451699; finalDepth = 634.740661; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:634.740661 # Seafloor depth:-674.740661 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 56.463859 meters # Minimum depth: 671.451699 meters looking forward 0.000000 meters along route # Maximum depth: 671.451699 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 631.451699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002741; longitude = -119.094444; captureRadius = 10; duration = 56; initialDepth = 618.890721; finalDepth = 631.451699; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:631.451699 # Seafloor depth:-671.451699 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 56.463859 meters # Minimum depth: 658.890721 meters looking forward 0.000000 meters along route # Maximum depth: 658.890721 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 618.890721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002715; longitude = -119.093793; captureRadius = 10; duration = 56; initialDepth = 611.172628; finalDepth = 618.890721; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:618.890721 # Seafloor depth:-658.890721 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 56.463859 meters # Minimum depth: 651.172628 meters looking forward 0.000000 meters along route # Maximum depth: 651.172628 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 611.172628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002689; longitude = -119.093143; captureRadius = 10; duration = 56; initialDepth = 610.222475; finalDepth = 611.172628; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:611.172628 # Seafloor depth:-651.172628 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 56.463859 meters # Minimum depth: 650.222475 meters looking forward 0.000000 meters along route # Maximum depth: 650.222475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.222475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002663; longitude = -119.092493; captureRadius = 10; duration = 56; initialDepth = 609.783938; finalDepth = 610.222475; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:610.222475 # Seafloor depth:-650.222475 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 56.463859 meters # Minimum depth: 649.783938 meters looking forward 0.000000 meters along route # Maximum depth: 649.783938 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 609.783938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002637; longitude = -119.091842; captureRadius = 10; duration = 56; initialDepth = 611.299233; finalDepth = 609.783938; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:609.783938 # Seafloor depth:-649.783938 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 56.463859 meters # Minimum depth: 651.299233 meters looking forward 0.000000 meters along route # Maximum depth: 651.299233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 611.299233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002611; longitude = -119.091192; captureRadius = 10; duration = 56; initialDepth = 614.382143; finalDepth = 611.299233; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:611.299233 # Seafloor depth:-651.299233 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 56.463859 meters # Minimum depth: 654.382143 meters looking forward 0.000000 meters along route # Maximum depth: 654.382143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 614.382143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002585; longitude = -119.090542; captureRadius = 10; duration = 56; initialDepth = 611.054276; finalDepth = 614.382143; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:614.382143 # Seafloor depth:-654.382143 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 56.463859 meters # Minimum depth: 651.054276 meters looking forward 0.000000 meters along route # Maximum depth: 651.054276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 611.054276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002556; longitude = -119.089819; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 615.432836; finalDepth = 611.054276; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:611.054276 # Seafloor depth:-651.054276 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 56.463859 meters # Minimum depth: 655.432836 meters looking forward 0.000000 meters along route # Maximum depth: 655.432836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 615.432836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002315; longitude = -119.089804; captureRadius = 10; duration = 56; initialDepth = 625.568456; finalDepth = 615.432836; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:615.432836 # Seafloor depth:-655.432836 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 56.463859 meters # Minimum depth: 665.568456 meters looking forward 0.000000 meters along route # Maximum depth: 665.568456 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 625.568456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001774; longitude = -119.089769; captureRadius = 10; duration = 56; initialDepth = 630.715415; finalDepth = 625.568456; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:625.568456 # Seafloor depth:-665.568456 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 56.463859 meters # Minimum depth: 670.715415 meters looking forward 0.000000 meters along route # Maximum depth: 670.715415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.715415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001233; longitude = -119.089735; captureRadius = 10; duration = 56; initialDepth = 628.541223; finalDepth = 630.715415; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:630.715415 # Seafloor depth:-670.715415 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 56.463859 meters # Minimum depth: 668.541223 meters looking forward 0.000000 meters along route # Maximum depth: 668.541223 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.541223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000692; longitude = -119.089701; captureRadius = 10; duration = 56; initialDepth = 631.328633; finalDepth = 628.541223; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:628.541223 # Seafloor depth:-668.541223 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 56.463859 meters # Minimum depth: 671.328633 meters looking forward 0.000000 meters along route # Maximum depth: 671.328633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 631.328633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000151; longitude = -119.089667; captureRadius = 10; duration = 56; initialDepth = 634.784433; finalDepth = 631.328633; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:631.328633 # Seafloor depth:-671.328633 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 56.463859 meters # Minimum depth: 674.784433 meters looking forward 0.000000 meters along route # Maximum depth: 674.784433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.784433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999610; longitude = -119.089632; captureRadius = 10; duration = 56; initialDepth = 635.311996; finalDepth = 634.784433; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:634.784433 # Seafloor depth:-674.784433 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 56.463859 meters # Minimum depth: 675.311996 meters looking forward 0.000000 meters along route # Maximum depth: 675.311996 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.311996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999129; longitude = -119.089602; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 635.200914; finalDepth = 635.311996; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:635.311996 # Seafloor depth:-675.311996 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 56.463859 meters # Minimum depth: 675.200914 meters looking forward 0.000000 meters along route # Maximum depth: 675.200914 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.200914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999171; longitude = -119.089891; captureRadius = 10; duration = 56; initialDepth = 633.010414; finalDepth = 635.200914; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:635.200914 # Seafloor depth:-675.200914 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 56.463859 meters # Minimum depth: 673.010414 meters looking forward 0.000000 meters along route # Maximum depth: 673.010414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 633.010414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999265; longitude = -119.090542; captureRadius = 10; duration = 56; initialDepth = 631.137711; finalDepth = 633.010414; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:633.010414 # Seafloor depth:-673.010414 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 56.463859 meters # Minimum depth: 671.137711 meters looking forward 0.000000 meters along route # Maximum depth: 671.137711 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 631.137711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999370; longitude = -119.091264; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 631.607249; finalDepth = 631.137711; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:631.137711 # Seafloor depth:-671.137711 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 56.463859 meters # Minimum depth: 671.607249 meters looking forward 0.000000 meters along route # Maximum depth: 671.607249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 631.607249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999430; longitude = -119.091261; captureRadius = 10; duration = 56; initialDepth = 633.191372; finalDepth = 631.607249; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:631.607249 # Seafloor depth:-671.607249 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 56.463859 meters # Minimum depth: 673.191372 meters looking forward 0.000000 meters along route # Maximum depth: 673.191372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 633.191372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999971; longitude = -119.091237; captureRadius = 10; duration = 56; initialDepth = 623.915274; finalDepth = 633.191372; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:633.191372 # Seafloor depth:-673.191372 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 56.463859 meters # Minimum depth: 663.915274 meters looking forward 0.000000 meters along route # Maximum depth: 663.915274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.915274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000512; longitude = -119.091213; captureRadius = 10; duration = 56; initialDepth = 617.672818; finalDepth = 623.915274; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:623.915274 # Seafloor depth:-663.915274 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 56.463859 meters # Minimum depth: 657.672818 meters looking forward 0.000000 meters along route # Maximum depth: 657.672818 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 617.672818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001053; longitude = -119.091189; captureRadius = 10; duration = 56; initialDepth = 616.055301; finalDepth = 617.672818; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:617.672818 # Seafloor depth:-657.672818 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 56.463859 meters # Minimum depth: 656.055301 meters looking forward 0.000000 meters along route # Maximum depth: 656.055301 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 616.055301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001594; longitude = -119.091165; captureRadius = 10; duration = 56; initialDepth = 615.628464; finalDepth = 616.055301; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:616.055301 # Seafloor depth:-656.055301 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 56.463859 meters # Minimum depth: 655.628464 meters looking forward 0.000000 meters along route # Maximum depth: 655.628464 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 615.628464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002135; longitude = -119.091141; captureRadius = 10; duration = 56; initialDepth = 611.325336; finalDepth = 615.628464; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:615.628464 # Seafloor depth:-655.628464 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 56.463859 meters # Minimum depth: 651.325336 meters looking forward 0.000000 meters along route # Maximum depth: 651.325336 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 611.325336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002676; longitude = -119.091117; captureRadius = 10; duration = 56; initialDepth = 608.269380; finalDepth = 611.325336; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:611.325336 # Seafloor depth:-651.325336 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 56.463859 meters # Minimum depth: 648.269380 meters looking forward 0.000000 meters along route # Maximum depth: 648.269380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.269380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003217; longitude = -119.091093; captureRadius = 10; duration = 56; initialDepth = 609.202203; finalDepth = 608.269380; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.26938 # Seafloor depth:-648.269380 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 56.463859 meters # Minimum depth: 649.202203 meters looking forward 0.000000 meters along route # Maximum depth: 649.202203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 609.202203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003758; longitude = -119.091068; captureRadius = 10; duration = 56; initialDepth = 609.364410; finalDepth = 609.202203; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:609.202203 # Seafloor depth:-649.202203 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 56.463859 meters # Minimum depth: 649.364410 meters looking forward 0.000000 meters along route # Maximum depth: 649.364410 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 609.364410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004239; longitude = -119.091047; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 609.124283; finalDepth = 609.364410; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:609.36441 # Seafloor depth:-649.364410 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 56.463859 meters # Minimum depth: 649.124283 meters looking forward 0.000000 meters along route # Maximum depth: 649.124283 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 609.124283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004479; longitude = -119.091105; captureRadius = 10; duration = 56; initialDepth = 608.852835; finalDepth = 609.124283; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:609.124283 # Seafloor depth:-649.124283 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 56.463859 meters # Minimum depth: 648.852835 meters looking forward 0.000000 meters along route # Maximum depth: 648.852835 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.852835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005020; longitude = -119.091235; captureRadius = 10; duration = 56; initialDepth = 607.334224; finalDepth = 608.852835; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.852835 # Seafloor depth:-648.852835 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 56.463859 meters # Minimum depth: 647.334224 meters looking forward 0.000000 meters along route # Maximum depth: 647.334224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.334224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005561; longitude = -119.091365; captureRadius = 10; duration = 56; initialDepth = 605.952316; finalDepth = 607.334224; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:607.334224 # Seafloor depth:-647.334224 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 56.463859 meters # Minimum depth: 645.952316 meters looking forward 0.000000 meters along route # Maximum depth: 645.952316 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.952316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006042; longitude = -119.091481; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 605.050856; finalDepth = 605.952316; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:605.952316 # Seafloor depth:-645.952316 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 56.463859 meters # Minimum depth: 645.050856 meters looking forward 0.000000 meters along route # Maximum depth: 645.050856 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.050856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006102; longitude = -119.091503; captureRadius = 10; duration = 56; initialDepth = 604.171404; finalDepth = 605.050856; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:605.050856 # Seafloor depth:-645.050856 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 56.463859 meters # Minimum depth: 644.171404 meters looking forward 0.000000 meters along route # Maximum depth: 644.171404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 604.171404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006644; longitude = -119.091699; captureRadius = 10; duration = 56; initialDepth = 602.627573; finalDepth = 604.171404; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:604.171404 # Seafloor depth:-644.171404 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 56.463859 meters # Minimum depth: 642.627573 meters looking forward 0.000000 meters along route # Maximum depth: 642.627573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 602.627573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007185; longitude = -119.091896; captureRadius = 10; duration = 56; initialDepth = 601.315270; finalDepth = 602.627573; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:602.627573 # Seafloor depth:-642.627573 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 56.463859 meters # Minimum depth: 641.315270 meters looking forward 0.000000 meters along route # Maximum depth: 641.315270 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 601.315270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007635; longitude = -119.092059; captureRadius = 10; duration = 56; initialDepth = 600.295785; finalDepth = 601.315270; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:601.31527 # Seafloor depth:-641.315270 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 56.463859 meters # Minimum depth: 640.295785 meters looking forward 0.000000 meters along route # Maximum depth: 640.295785 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.295785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008086; longitude = -119.092223; captureRadius = 10; duration = 56; initialDepth = 600.773670; finalDepth = 600.295785; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:600.295785 # Seafloor depth:-640.295785 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 56.463859 meters # Minimum depth: 640.773670 meters looking forward 0.000000 meters along route # Maximum depth: 640.773670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.773670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008627; longitude = -119.092419; captureRadius = 10; duration = 56; initialDepth = 598.123016; finalDepth = 600.773670; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:600.77367 # Seafloor depth:-640.773670 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 56.463859 meters # Minimum depth: 638.123016 meters looking forward 0.000000 meters along route # Maximum depth: 638.123016 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 598.123016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009228; longitude = -119.092637; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 600.740867; finalDepth = 598.123016; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:598.123016 # Seafloor depth:-638.123016 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 56.463859 meters # Minimum depth: 640.740867 meters looking forward 0.000000 meters along route # Maximum depth: 640.740867 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.740867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009296; longitude = -119.093143; captureRadius = 10; duration = 56; initialDepth = 610.366490; finalDepth = 600.740867; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:600.740867 # Seafloor depth:-640.740867 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 56.463859 meters # Minimum depth: 650.366490 meters looking forward 0.000000 meters along route # Maximum depth: 650.366490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.366490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009383; longitude = -119.093793; captureRadius = 10; duration = 56; initialDepth = 620.579539; finalDepth = 610.366490; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:610.36649 # Seafloor depth:-650.366490 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 56.463859 meters # Minimum depth: 660.579539 meters looking forward 0.000000 meters along route # Maximum depth: 660.579539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.579539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009471; longitude = -119.094444; captureRadius = 10; duration = 56; initialDepth = 621.505517; finalDepth = 620.579539; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:620.579539 # Seafloor depth:-660.579539 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 56.463859 meters # Minimum depth: 661.505517 meters looking forward 0.000000 meters along route # Maximum depth: 661.505517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.505517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009558; longitude = -119.095094; captureRadius = 10; duration = 56; initialDepth = 610.097341; finalDepth = 621.505517; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:621.505517 # Seafloor depth:-661.505517 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 56.463859 meters # Minimum depth: 650.097341 meters looking forward 0.000000 meters along route # Maximum depth: 650.097341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.097341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009646; longitude = -119.095745; captureRadius = 10; duration = 56; initialDepth = 594.391875; finalDepth = 610.097341; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:610.097341 # Seafloor depth:-650.097341 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 56.463859 meters # Minimum depth: 634.391875 meters looking forward 0.000000 meters along route # Maximum depth: 634.391875 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.391875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009733; longitude = -119.096395; captureRadius = 10; duration = 56; initialDepth = 587.284073; finalDepth = 594.391875; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.391875 # Seafloor depth:-634.391875 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 56.463859 meters # Minimum depth: 627.284073 meters looking forward 0.000000 meters along route # Maximum depth: 627.284073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.284073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009830; longitude = -119.097118; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 588.046343; finalDepth = 587.284073; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.284073 # Seafloor depth:-627.284073 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 56.463859 meters # Minimum depth: 628.046343 meters looking forward 0.000000 meters along route # Maximum depth: 628.046343 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.046343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010250; longitude = -119.097302; captureRadius = 10; duration = 56; initialDepth = 591.027562; finalDepth = 588.046343; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.046343 # Seafloor depth:-628.046343 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 56.463859 meters # Minimum depth: 631.027562 meters looking forward 0.000000 meters along route # Maximum depth: 631.027562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.027562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010791; longitude = -119.097538; captureRadius = 10; duration = 56; initialDepth = 588.069754; finalDepth = 591.027562; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.027562 # Seafloor depth:-631.027562 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 56.463859 meters # Minimum depth: 628.069754 meters looking forward 0.000000 meters along route # Maximum depth: 628.069754 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.069754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011332; longitude = -119.097775; captureRadius = 10; duration = 56; initialDepth = 584.284544; finalDepth = 588.069754; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.069754 # Seafloor depth:-628.069754 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 56.463859 meters # Minimum depth: 624.284544 meters looking forward 0.000000 meters along route # Maximum depth: 624.284544 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.284544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011873; longitude = -119.098011; captureRadius = 10; duration = 56; initialDepth = 586.490036; finalDepth = 584.284544; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.284544 # Seafloor depth:-624.284544 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 56.463859 meters # Minimum depth: 626.490036 meters looking forward 0.000000 meters along route # Maximum depth: 626.490036 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.490036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012475; longitude = -119.098274; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 587.397576; finalDepth = 586.490036; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.490036 # Seafloor depth:-626.490036 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 56.463859 meters # Minimum depth: 627.397576 meters looking forward 0.000000 meters along route # Maximum depth: 627.397576 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.397576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012975; longitude = -119.098129; captureRadius = 10; duration = 56; initialDepth = 587.392129; finalDepth = 587.397576; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.397576 # Seafloor depth:-627.397576 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 56.463859 meters # Minimum depth: 627.392129 meters looking forward 0.000000 meters along route # Maximum depth: 627.392129 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.392129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013497; longitude = -119.097979; captureRadius = 10; duration = 56; initialDepth = 586.323203; finalDepth = 587.392129; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.392129 # Seafloor depth:-627.392129 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 56.463859 meters # Minimum depth: 626.323203 meters looking forward 0.000000 meters along route # Maximum depth: 626.323203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.323203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014038; longitude = -119.097822; captureRadius = 10; duration = 56; initialDepth = 586.513638; finalDepth = 586.323203; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.323203 # Seafloor depth:-626.323203 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 56.463859 meters # Minimum depth: 626.513638 meters looking forward 0.000000 meters along route # Maximum depth: 626.513638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.513638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014579; longitude = -119.097666; captureRadius = 10; duration = 56; initialDepth = 593.127127; finalDepth = 586.513638; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.513638 # Seafloor depth:-626.513638 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 56.463859 meters # Minimum depth: 633.127127 meters looking forward 0.000000 meters along route # Maximum depth: 633.127127 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.127127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015120; longitude = -119.097509; captureRadius = 10; duration = 56; initialDepth = 602.390934; finalDepth = 593.127127; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.127127 # Seafloor depth:-633.127127 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 56.463859 meters # Minimum depth: 642.390934 meters looking forward 0.000000 meters along route # Maximum depth: 642.390934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 602.390934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015661; longitude = -119.097353; captureRadius = 10; duration = 56; initialDepth = 600.660770; finalDepth = 602.390934; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:602.390934 # Seafloor depth:-642.390934 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 56.463859 meters # Minimum depth: 640.660770 meters looking forward 0.000000 meters along route # Maximum depth: 640.660770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.660770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016202; longitude = -119.097197; captureRadius = 10; duration = 56; initialDepth = 593.433422; finalDepth = 600.660770; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:600.66077 # Seafloor depth:-640.660770 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 56.463859 meters # Minimum depth: 633.433422 meters looking forward 0.000000 meters along route # Maximum depth: 633.433422 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.433422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016743; longitude = -119.097040; captureRadius = 10; duration = 56; initialDepth = 591.730499; finalDepth = 593.433422; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.433422 # Seafloor depth:-633.433422 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 56.463859 meters # Minimum depth: 631.730499 meters looking forward 0.000000 meters along route # Maximum depth: 631.730499 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.730499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017224; longitude = -119.096901; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 593.087430; finalDepth = 591.730499; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.730499 # Seafloor depth:-631.730499 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 56.463859 meters # Minimum depth: 633.087430 meters looking forward 0.000000 meters along route # Maximum depth: 633.087430 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.087430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017090; longitude = -119.096612; captureRadius = 10; duration = 56; initialDepth = 594.468610; finalDepth = 593.087430; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.08743 # Seafloor depth:-633.087430 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 56.463859 meters # Minimum depth: 634.468610 meters looking forward 0.000000 meters along route # Maximum depth: 634.468610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.468610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016790; longitude = -119.095961; captureRadius = 10; duration = 56; initialDepth = 595.543225; finalDepth = 594.468610; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.46861 # Seafloor depth:-634.468610 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 56.463859 meters # Minimum depth: 635.543225 meters looking forward 0.000000 meters along route # Maximum depth: 635.543225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.543225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016562; longitude = -119.095470; captureRadius = 10; duration = 56; initialDepth = 596.662781; finalDepth = 595.543225; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:595.543225 # Seafloor depth:-635.543225 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 56.463859 meters # Minimum depth: 636.662781 meters looking forward 0.000000 meters along route # Maximum depth: 636.662781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.662781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016322; longitude = -119.094950; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 597.729287; finalDepth = 596.662781; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.662781 # Seafloor depth:-636.662781 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 56.463859 meters # Minimum depth: 637.729287 meters looking forward 0.000000 meters along route # Maximum depth: 637.729287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 597.729287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015841; longitude = -119.094858; captureRadius = 10; duration = 56; initialDepth = 599.308581; finalDepth = 597.729287; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:597.729287 # Seafloor depth:-637.729287 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 56.463859 meters # Minimum depth: 639.308581 meters looking forward 0.000000 meters along route # Maximum depth: 639.308581 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 599.308581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015300; longitude = -119.094754; captureRadius = 10; duration = 56; initialDepth = 600.478201; finalDepth = 599.308581; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:599.308581 # Seafloor depth:-639.308581 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 56.463859 meters # Minimum depth: 640.478201 meters looking forward 0.000000 meters along route # Maximum depth: 640.478201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.478201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014759; longitude = -119.094651; captureRadius = 10; duration = 56; initialDepth = 602.722184; finalDepth = 600.478201; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:600.478201 # Seafloor depth:-640.478201 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 56.463859 meters # Minimum depth: 642.722184 meters looking forward 0.000000 meters along route # Maximum depth: 642.722184 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 602.722184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014218; longitude = -119.094547; captureRadius = 10; duration = 56; initialDepth = 606.354919; finalDepth = 602.722184; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:602.722184 # Seafloor depth:-642.722184 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 56.463859 meters # Minimum depth: 646.354919 meters looking forward 0.000000 meters along route # Maximum depth: 646.354919 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 606.354919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013676; longitude = -119.094444; captureRadius = 10; duration = 56; initialDepth = 608.862621; finalDepth = 606.354919; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:606.354919 # Seafloor depth:-646.354919 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 56.463859 meters # Minimum depth: 648.862621 meters looking forward 0.000000 meters along route # Maximum depth: 648.862621 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.862621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013136; longitude = -119.094340; captureRadius = 10; duration = 56; initialDepth = 609.826008; finalDepth = 608.862621; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.862621 # Seafloor depth:-648.862621 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 56.463859 meters # Minimum depth: 649.826008 meters looking forward 0.000000 meters along route # Maximum depth: 649.826008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 609.826008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012543; longitude = -119.094227; captureRadius = 10; duration = 56; initialDepth = 611.074225; finalDepth = 609.826008; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:609.826008 # Seafloor depth:-649.826008 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 56.463859 meters # Minimum depth: 651.074225 meters looking forward 0.000000 meters along route # Maximum depth: 651.074225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 611.074225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012054; longitude = -119.094133; captureRadius = 10; duration = 56; initialDepth = 612.627107; finalDepth = 611.074225; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:611.074225 # Seafloor depth:-651.074225 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 56.463859 meters # Minimum depth: 652.627107 meters looking forward 0.000000 meters along route # Maximum depth: 652.627107 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.627107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011513; longitude = -119.094030; captureRadius = 10; duration = 56; initialDepth = 613.708618; finalDepth = 612.627107; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:612.627107 # Seafloor depth:-652.627107 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 56.463859 meters # Minimum depth: 653.708618 meters looking forward 0.000000 meters along route # Maximum depth: 653.708618 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 613.708618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011032; longitude = -119.093938; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 614.342232; finalDepth = 613.708618; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:613.708618 # Seafloor depth:-653.708618 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 56.463859 meters # Minimum depth: 654.342232 meters looking forward 0.000000 meters along route # Maximum depth: 654.342232 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 614.342232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010972; longitude = -119.093920; captureRadius = 10; duration = 56; initialDepth = 611.087133; finalDepth = 614.342232; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:614.342232 # Seafloor depth:-654.342232 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 56.463859 meters # Minimum depth: 651.087133 meters looking forward 0.000000 meters along route # Maximum depth: 651.087133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 611.087133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010431; longitude = -119.093757; captureRadius = 10; duration = 56; initialDepth = 605.897248; finalDepth = 611.087133; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:611.087133 # Seafloor depth:-651.087133 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 56.463859 meters # Minimum depth: 645.897248 meters looking forward 0.000000 meters along route # Maximum depth: 645.897248 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.897248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009830; longitude = -119.093577; captureRadius = 10; duration = 56; initialDepth = 604.461205; finalDepth = 605.897248; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:605.897248 # Seafloor depth:-645.897248 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 56.463859 meters # Minimum depth: 644.461205 meters looking forward 0.000000 meters along route # Maximum depth: 644.461205 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 604.461205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009349; longitude = -119.093432; captureRadius = 10; duration = 56; initialDepth = 609.153703; finalDepth = 604.461205; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:604.461205 # Seafloor depth:-644.461205 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 56.463859 meters # Minimum depth: 649.153703 meters looking forward 0.000000 meters along route # Maximum depth: 649.153703 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 609.153703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008808; longitude = -119.093269; captureRadius = 10; duration = 56; initialDepth = 606.486096; finalDepth = 609.153703; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:609.153703 # Seafloor depth:-649.153703 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 56.463859 meters # Minimum depth: 646.486096 meters looking forward 0.000000 meters along route # Maximum depth: 646.486096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 606.486096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008267; longitude = -119.093107; captureRadius = 10; duration = 56; initialDepth = 603.135378; finalDepth = 606.486096; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:606.486096 # Seafloor depth:-646.486096 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 56.463859 meters # Minimum depth: 643.135378 meters looking forward 0.000000 meters along route # Maximum depth: 643.135378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.135378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007666; longitude = -119.092926; captureRadius = 10; duration = 56; initialDepth = 603.657070; finalDepth = 603.135378; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:603.135378 # Seafloor depth:-643.135378 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 56.463859 meters # Minimum depth: 643.657070 meters looking forward 0.000000 meters along route # Maximum depth: 643.657070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.657070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007185; longitude = -119.092781; captureRadius = 10; duration = 56; initialDepth = 603.551773; finalDepth = 603.657070; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:603.65707 # Seafloor depth:-643.657070 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 56.463859 meters # Minimum depth: 643.551773 meters looking forward 0.000000 meters along route # Maximum depth: 643.551773 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.551773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006704; longitude = -119.092637; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 604.026428; finalDepth = 603.551773; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:603.551773 # Seafloor depth:-643.551773 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 56.463859 meters # Minimum depth: 644.026428 meters looking forward 0.000000 meters along route # Maximum depth: 644.026428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 604.026428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006283; longitude = -119.092649; captureRadius = 10; duration = 56; initialDepth = 605.201564; finalDepth = 604.026428; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:604.026428 # Seafloor depth:-644.026428 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 56.463859 meters # Minimum depth: 645.201564 meters looking forward 0.000000 meters along route # Maximum depth: 645.201564 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.201564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005742; longitude = -119.092665; captureRadius = 10; duration = 56; initialDepth = 605.654846; finalDepth = 605.201564; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:605.201564 # Seafloor depth:-645.201564 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 56.463859 meters # Minimum depth: 645.654846 meters looking forward 0.000000 meters along route # Maximum depth: 645.654846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.654846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005201; longitude = -119.092681; captureRadius = 10; duration = 56; initialDepth = 608.077075; finalDepth = 605.654846; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:605.654846 # Seafloor depth:-645.654846 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 56.463859 meters # Minimum depth: 648.077075 meters looking forward 0.000000 meters along route # Maximum depth: 648.077075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.077075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004660; longitude = -119.092697; captureRadius = 10; duration = 56; initialDepth = 608.451309; finalDepth = 608.077075; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.077075 # Seafloor depth:-648.077075 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 56.463859 meters # Minimum depth: 648.451309 meters looking forward 0.000000 meters along route # Maximum depth: 648.451309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.451309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004119; longitude = -119.092713; captureRadius = 10; duration = 56; initialDepth = 609.035564; finalDepth = 608.451309; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.451309 # Seafloor depth:-648.451309 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 56.463859 meters # Minimum depth: 649.035564 meters looking forward 0.000000 meters along route # Maximum depth: 649.035564 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 609.035564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003578; longitude = -119.092729; captureRadius = 10; duration = 56; initialDepth = 610.036929; finalDepth = 609.035564; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:609.035564 # Seafloor depth:-649.035564 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 56.463859 meters # Minimum depth: 650.036929 meters looking forward 0.000000 meters along route # Maximum depth: 650.036929 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.036929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003037; longitude = -119.092745; captureRadius = 10; duration = 56; initialDepth = 609.926573; finalDepth = 610.036929; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:610.036929 # Seafloor depth:-650.036929 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 56.463859 meters # Minimum depth: 649.926573 meters looking forward 0.000000 meters along route # Maximum depth: 649.926573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 609.926573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002496; longitude = -119.092761; captureRadius = 10; duration = 56; initialDepth = 607.812190; finalDepth = 609.926573; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:609.926573 # Seafloor depth:-649.926573 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 56.463859 meters # Minimum depth: 647.812190 meters looking forward 0.000000 meters along route # Maximum depth: 647.812190 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.812190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001955; longitude = -119.092776; captureRadius = 10; duration = 56; initialDepth = 605.368045; finalDepth = 607.812190; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:607.81219 # Seafloor depth:-647.812190 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 56.463859 meters # Minimum depth: 645.368045 meters looking forward 0.000000 meters along route # Maximum depth: 645.368045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.368045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001414; longitude = -119.092792; captureRadius = 10; duration = 56; initialDepth = 614.612631; finalDepth = 605.368045; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:605.368045 # Seafloor depth:-645.368045 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 56.463859 meters # Minimum depth: 654.612631 meters looking forward 0.000000 meters along route # Maximum depth: 654.612631 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 614.612631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000872; longitude = -119.092808; captureRadius = 10; duration = 56; initialDepth = 628.713653; finalDepth = 614.612631; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:614.612631 # Seafloor depth:-654.612631 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 56.463859 meters # Minimum depth: 668.713653 meters looking forward 0.000000 meters along route # Maximum depth: 668.713653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.713653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000331; longitude = -119.092824; captureRadius = 10; duration = 56; initialDepth = 628.690449; finalDepth = 628.713653; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:628.713653 # Seafloor depth:-668.713653 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 56.463859 meters # Minimum depth: 668.690449 meters looking forward 0.000000 meters along route # Maximum depth: 668.690449 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.690449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999790; longitude = -119.092840; captureRadius = 10; duration = 56; initialDepth = 630.644638; finalDepth = 628.690449; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:628.690449 # Seafloor depth:-668.690449 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 56.463859 meters # Minimum depth: 670.644638 meters looking forward 0.000000 meters along route # Maximum depth: 670.644638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.644638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999310; longitude = -119.092854; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 630.250189; finalDepth = 630.644638; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:630.644638 # Seafloor depth:-670.644638 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 56.463859 meters # Minimum depth: 670.250189 meters looking forward 0.000000 meters along route # Maximum depth: 670.250189 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.250189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999509; longitude = -119.093143; captureRadius = 10; duration = 56; initialDepth = 629.335399; finalDepth = 630.250189; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:630.250189 # Seafloor depth:-670.250189 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 56.463859 meters # Minimum depth: 669.335399 meters looking forward 0.000000 meters along route # Maximum depth: 669.335399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 629.335399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999807; longitude = -119.093577; captureRadius = 10; duration = 56; initialDepth = 624.357737; finalDepth = 629.335399; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:629.335399 # Seafloor depth:-669.335399 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 56.463859 meters # Minimum depth: 664.357737 meters looking forward 0.000000 meters along route # Maximum depth: 664.357737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.357737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000151; longitude = -119.094078; captureRadius = 10; duration = 56; initialDepth = 619.350510; finalDepth = 624.357737; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:624.357737 # Seafloor depth:-664.357737 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 56.463859 meters # Minimum depth: 659.350510 meters looking forward 0.000000 meters along route # Maximum depth: 659.350510 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.350510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000452; longitude = -119.094516; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 620.942977; finalDepth = 619.350510; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.35051 # Seafloor depth:-659.350510 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 56.463859 meters # Minimum depth: 660.942977 meters looking forward 0.000000 meters along route # Maximum depth: 660.942977 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.942977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000872; longitude = -119.094502; captureRadius = 10; duration = 56; initialDepth = 628.423273; finalDepth = 620.942977; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:620.942977 # Seafloor depth:-660.942977 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 56.463859 meters # Minimum depth: 668.423273 meters looking forward 0.000000 meters along route # Maximum depth: 668.423273 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.423273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001414; longitude = -119.094483; captureRadius = 10; duration = 56; initialDepth = 632.252317; finalDepth = 628.423273; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:628.423273 # Seafloor depth:-668.423273 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 56.463859 meters # Minimum depth: 672.252317 meters looking forward 0.000000 meters along route # Maximum depth: 672.252317 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 632.252317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001955; longitude = -119.094464; captureRadius = 10; duration = 56; initialDepth = 631.781913; finalDepth = 632.252317; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:632.252317 # Seafloor depth:-672.252317 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 56.463859 meters # Minimum depth: 671.781913 meters looking forward 0.000000 meters along route # Maximum depth: 671.781913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 631.781913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002549; longitude = -119.094444; captureRadius = 10; duration = 56; initialDepth = 632.827300; finalDepth = 631.781913; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:631.781913 # Seafloor depth:-671.781913 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 56.463859 meters # Minimum depth: 672.827300 meters looking forward 0.000000 meters along route # Maximum depth: 672.827300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 632.827300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003037; longitude = -119.094427; captureRadius = 10; duration = 56; initialDepth = 631.884372; finalDepth = 632.827300; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:632.8273 # Seafloor depth:-672.827300 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 56.463859 meters # Minimum depth: 671.884372 meters looking forward 0.000000 meters along route # Maximum depth: 671.884372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 631.884372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003578; longitude = -119.094409; captureRadius = 10; duration = 56; initialDepth = 629.567339; finalDepth = 631.884372; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:631.884372 # Seafloor depth:-671.884372 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 56.463859 meters # Minimum depth: 669.567339 meters looking forward 0.000000 meters along route # Maximum depth: 669.567339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 629.567339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004119; longitude = -119.094390; captureRadius = 10; duration = 56; initialDepth = 629.757803; finalDepth = 629.567339; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:629.567339 # Seafloor depth:-669.567339 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 56.463859 meters # Minimum depth: 669.757803 meters looking forward 0.000000 meters along route # Maximum depth: 669.757803 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 629.757803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004660; longitude = -119.094371; captureRadius = 10; duration = 56; initialDepth = 628.478919; finalDepth = 629.757803; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:629.757803 # Seafloor depth:-669.757803 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 56.463859 meters # Minimum depth: 668.478919 meters looking forward 0.000000 meters along route # Maximum depth: 668.478919 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.478919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005201; longitude = -119.094353; captureRadius = 10; duration = 56; initialDepth = 628.326151; finalDepth = 628.478919; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:628.478919 # Seafloor depth:-668.478919 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 56.463859 meters # Minimum depth: 668.326151 meters looking forward 0.000000 meters along route # Maximum depth: 668.326151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.326151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005742; longitude = -119.094334; captureRadius = 10; duration = 56; initialDepth = 627.190733; finalDepth = 628.326151; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:628.326151 # Seafloor depth:-668.326151 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 56.463859 meters # Minimum depth: 667.190733 meters looking forward 0.000000 meters along route # Maximum depth: 667.190733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 627.190733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006283; longitude = -119.094316; captureRadius = 10; duration = 56; initialDepth = 626.170242; finalDepth = 627.190733; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:627.190733 # Seafloor depth:-667.190733 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 56.463859 meters # Minimum depth: 666.170242 meters looking forward 0.000000 meters along route # Maximum depth: 666.170242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 626.170242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006764; longitude = -119.094299; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 625.357160; finalDepth = 626.170242; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:626.170242 # Seafloor depth:-666.170242 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 56.463859 meters # Minimum depth: 665.357160 meters looking forward 0.000000 meters along route # Maximum depth: 665.357160 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 625.357160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007185; longitude = -119.094409; captureRadius = 10; duration = 56; initialDepth = 624.962880; finalDepth = 625.357160; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:625.35716 # Seafloor depth:-665.357160 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 56.463859 meters # Minimum depth: 664.962880 meters looking forward 0.000000 meters along route # Maximum depth: 664.962880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.962880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007726; longitude = -119.094550; captureRadius = 10; duration = 56; initialDepth = 621.785617; finalDepth = 624.962880; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:624.96288 # Seafloor depth:-664.962880 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 56.463859 meters # Minimum depth: 661.785617 meters looking forward 0.000000 meters along route # Maximum depth: 661.785617 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.785617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008267; longitude = -119.094692; captureRadius = 10; duration = 56; initialDepth = 620.576265; finalDepth = 621.785617; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:621.785617 # Seafloor depth:-661.785617 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 56.463859 meters # Minimum depth: 660.576265 meters looking forward 0.000000 meters along route # Maximum depth: 660.576265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.576265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008808; longitude = -119.094833; captureRadius = 10; duration = 56; initialDepth = 622.063169; finalDepth = 620.576265; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:620.576265 # Seafloor depth:-660.576265 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 56.463859 meters # Minimum depth: 662.063169 meters looking forward 0.000000 meters along route # Maximum depth: 662.063169 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.063169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009349; longitude = -119.094974; captureRadius = 10; duration = 56; initialDepth = 618.690574; finalDepth = 622.063169; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:622.063169 # Seafloor depth:-662.063169 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 56.463859 meters # Minimum depth: 658.690574 meters looking forward 0.000000 meters along route # Maximum depth: 658.690574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 618.690574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009890; longitude = -119.095116; captureRadius = 10; duration = 56; initialDepth = 610.694348; finalDepth = 618.690574; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:618.690574 # Seafloor depth:-658.690574 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 56.463859 meters # Minimum depth: 650.694348 meters looking forward 0.000000 meters along route # Maximum depth: 650.694348 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.694348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010431; longitude = -119.095257; captureRadius = 10; duration = 56; initialDepth = 607.515701; finalDepth = 610.694348; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:610.694348 # Seafloor depth:-650.694348 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 56.463859 meters # Minimum depth: 647.515701 meters looking forward 0.000000 meters along route # Maximum depth: 647.515701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.515701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010912; longitude = -119.095383; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 607.424538; finalDepth = 607.515701; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:607.515701 # Seafloor depth:-647.515701 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 56.463859 meters # Minimum depth: 647.424538 meters looking forward 0.000000 meters along route # Maximum depth: 647.424538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.424538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011152; longitude = -119.095433; captureRadius = 10; duration = 56; initialDepth = 605.218113; finalDepth = 607.424538; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:607.424538 # Seafloor depth:-647.424538 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 56.463859 meters # Minimum depth: 645.218113 meters looking forward 0.000000 meters along route # Maximum depth: 645.218113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.218113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011605; longitude = -119.095528; captureRadius = 10; duration = 56; initialDepth = 602.987534; finalDepth = 605.218113; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:605.218113 # Seafloor depth:-645.218113 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 56.463859 meters # Minimum depth: 642.987534 meters looking forward 0.000000 meters along route # Maximum depth: 642.987534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 602.987534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012054; longitude = -119.095622; captureRadius = 10; duration = 56; initialDepth = 602.074328; finalDepth = 602.987534; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:602.987534 # Seafloor depth:-642.987534 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 56.463859 meters # Minimum depth: 642.074328 meters looking forward 0.000000 meters along route # Maximum depth: 642.074328 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 602.074328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012641; longitude = -119.095745; captureRadius = 10; duration = 56; initialDepth = 600.763948; finalDepth = 602.074328; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:602.074328 # Seafloor depth:-642.074328 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 56.463859 meters # Minimum depth: 640.763948 meters looking forward 0.000000 meters along route # Maximum depth: 640.763948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.763948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013136; longitude = -119.095848; captureRadius = 10; duration = 56; initialDepth = 599.898742; finalDepth = 600.763948; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:600.763948 # Seafloor depth:-640.763948 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 56.463859 meters # Minimum depth: 639.898742 meters looking forward 0.000000 meters along route # Maximum depth: 639.898742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 599.898742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013677; longitude = -119.095961; captureRadius = 10; duration = 56; initialDepth = 601.593506; finalDepth = 599.898742; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:599.898742 # Seafloor depth:-639.898742 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 56.463859 meters # Minimum depth: 641.593506 meters looking forward 0.000000 meters along route # Maximum depth: 641.593506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 601.593506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014218; longitude = -119.096075; captureRadius = 10; duration = 56; initialDepth = 607.026190; finalDepth = 601.593506; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:601.593506 # Seafloor depth:-641.593506 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 56.463859 meters # Minimum depth: 647.026190 meters looking forward 0.000000 meters along route # Maximum depth: 647.026190 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.026190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014759; longitude = -119.096188; captureRadius = 10; duration = 56; initialDepth = 604.276464; finalDepth = 607.026190; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:607.02619 # Seafloor depth:-647.026190 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 56.463859 meters # Minimum depth: 644.276464 meters looking forward 0.000000 meters along route # Maximum depth: 644.276464 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 604.276464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015300; longitude = -119.096301; captureRadius = 10; duration = 56; initialDepth = 600.095550; finalDepth = 604.276464; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:604.276464 # Seafloor depth:-644.276464 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 56.463859 meters # Minimum depth: 640.095550 meters looking forward 0.000000 meters along route # Maximum depth: 640.095550 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.095550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015841; longitude = -119.096414; captureRadius = 10; duration = 56; initialDepth = 594.503326; finalDepth = 600.095550; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:600.09555 # Seafloor depth:-640.095550 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 56.463859 meters # Minimum depth: 634.503326 meters looking forward 0.000000 meters along route # Maximum depth: 634.503326 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.503326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016442; longitude = -119.096540; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 594.455267; finalDepth = 594.503326; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.503326 # Seafloor depth:-634.503326 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 56.463859 meters # Minimum depth: 634.455267 meters looking forward 0.000000 meters along route # Maximum depth: 634.455267 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.455267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016477; longitude = -119.096612; captureRadius = 10; duration = 56; initialDepth = 593.849179; finalDepth = 594.455267; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.455267 # Seafloor depth:-634.455267 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 56.463859 meters # Minimum depth: 633.849179 meters looking forward 0.000000 meters along route # Maximum depth: 633.849179 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.849179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016743; longitude = -119.097164; captureRadius = 10; duration = 56; initialDepth = 593.393295; finalDepth = 593.849179; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.849179 # Seafloor depth:-633.849179 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 56.463859 meters # Minimum depth: 633.393295 meters looking forward 0.000000 meters along route # Maximum depth: 633.393295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.393295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016999; longitude = -119.097696; captureRadius = 10; duration = 56; initialDepth = 590.321697; finalDepth = 593.393295; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.393295 # Seafloor depth:-633.393295 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 56.463859 meters # Minimum depth: 630.321697 meters looking forward 0.000000 meters along route # Maximum depth: 630.321697 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.321697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017284; longitude = -119.098287; captureRadius = 10; duration = 56; initialDepth = 589.195176; finalDepth = 590.321697; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.321697 # Seafloor depth:-630.321697 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 56.463859 meters # Minimum depth: 629.195176 meters looking forward 0.000000 meters along route # Maximum depth: 629.195176 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.195176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017521; longitude = -119.098780; captureRadius = 10; duration = 56; initialDepth = 587.947067; finalDepth = 589.195176; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:589.195176 # Seafloor depth:-629.195176 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 56.463859 meters # Minimum depth: 627.947067 meters looking forward 0.000000 meters along route # Maximum depth: 627.947067 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.947067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017765; longitude = -119.099286; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 587.152105; finalDepth = 587.947067; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.947067 # Seafloor depth:-627.947067 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 56.463859 meters # Minimum depth: 627.152105 meters looking forward 0.000000 meters along route # Maximum depth: 627.152105 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.152105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017825; longitude = -119.099286; captureRadius = 10; duration = 56; initialDepth = 578.998976; finalDepth = 587.152105; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.152105 # Seafloor depth:-627.152105 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 56.463859 meters # Minimum depth: 618.998976 meters looking forward 0.000000 meters along route # Maximum depth: 618.998976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.998976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018366; longitude = -119.099286; captureRadius = 10; duration = 56; initialDepth = 581.255445; finalDepth = 578.998976; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.998976 # Seafloor depth:-618.998976 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 56.463859 meters # Minimum depth: 621.255445 meters looking forward 0.000000 meters along route # Maximum depth: 621.255445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.255445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018907; longitude = -119.099286; captureRadius = 10; duration = 56; initialDepth = 585.393051; finalDepth = 581.255445; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:581.255445 # Seafloor depth:-621.255445 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 56.463859 meters # Minimum depth: 625.393051 meters looking forward 0.000000 meters along route # Maximum depth: 625.393051 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.393051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019388; longitude = -119.099286; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 584.906683; finalDepth = 585.393051; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.393051 # Seafloor depth:-625.393051 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 56.463859 meters # Minimum depth: 624.906683 meters looking forward 0.000000 meters along route # Maximum depth: 624.906683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.906683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019628; longitude = -119.099162; captureRadius = 10; duration = 56; initialDepth = 584.059443; finalDepth = 584.906683; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.906683 # Seafloor depth:-624.906683 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 56.463859 meters # Minimum depth: 624.059443 meters looking forward 0.000000 meters along route # Maximum depth: 624.059443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.059443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020169; longitude = -119.098883; captureRadius = 10; duration = 56; initialDepth = 585.114761; finalDepth = 584.059443; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.059443 # Seafloor depth:-624.059443 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 56.463859 meters # Minimum depth: 625.114761 meters looking forward 0.000000 meters along route # Maximum depth: 625.114761 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.114761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020650; longitude = -119.098635; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 585.000562; finalDepth = 585.114761; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.114761 # Seafloor depth:-625.114761 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 56.463859 meters # Minimum depth: 625.000562 meters looking forward 0.000000 meters along route # Maximum depth: 625.000562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.000562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020891; longitude = -119.098442; captureRadius = 10; duration = 56; initialDepth = 584.410606; finalDepth = 585.000562; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.000562 # Seafloor depth:-625.000562 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 56.463859 meters # Minimum depth: 624.410606 meters looking forward 0.000000 meters along route # Maximum depth: 624.410606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.410606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021281; longitude = -119.098129; captureRadius = 10; duration = 56; initialDepth = 582.202652; finalDepth = 584.410606; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.410606 # Seafloor depth:-624.410606 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 56.463859 meters # Minimum depth: 622.202652 meters looking forward 0.000000 meters along route # Maximum depth: 622.202652 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.202652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021732; longitude = -119.097768; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 579.218543; finalDepth = 582.202652; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.202652 # Seafloor depth:-622.202652 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 56.463859 meters # Minimum depth: 619.218543 meters looking forward 0.000000 meters along route # Maximum depth: 619.218543 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.218543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021973; longitude = -119.097231; captureRadius = 10; duration = 56; initialDepth = 578.337104; finalDepth = 579.218543; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.218543 # Seafloor depth:-619.218543 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 56.463859 meters # Minimum depth: 618.337104 meters looking forward 0.000000 meters along route # Maximum depth: 618.337104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.337104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022250; longitude = -119.096612; captureRadius = 10; duration = 56; initialDepth = 578.683793; finalDepth = 578.337104; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.337104 # Seafloor depth:-618.337104 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 56.463859 meters # Minimum depth: 618.683793 meters looking forward 0.000000 meters along route # Maximum depth: 618.683793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.683793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022514; longitude = -119.096024; captureRadius = 10; duration = 56; initialDepth = 578.126690; finalDepth = 578.683793; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.683793 # Seafloor depth:-618.683793 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 56.463859 meters # Minimum depth: 618.126690 meters looking forward 0.000000 meters along route # Maximum depth: 618.126690 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.126690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022736; longitude = -119.095528; captureRadius = 10; duration = 56; initialDepth = 577.440903; finalDepth = 578.126690; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.12669 # Seafloor depth:-618.126690 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 56.463859 meters # Minimum depth: 617.440903 meters looking forward 0.000000 meters along route # Maximum depth: 617.440903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.440903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022995; longitude = -119.094950; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 577.372280; finalDepth = 577.440903; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.440903 # Seafloor depth:-617.440903 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 56.463859 meters # Minimum depth: 617.372280 meters looking forward 0.000000 meters along route # Maximum depth: 617.372280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.372280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023055; longitude = -119.094929; captureRadius = 10; duration = 56; initialDepth = 576.673828; finalDepth = 577.372280; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.37228 # Seafloor depth:-617.372280 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 56.463859 meters # Minimum depth: 616.673828 meters looking forward 0.000000 meters along route # Maximum depth: 616.673828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.673828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023596; longitude = -119.094741; captureRadius = 10; duration = 56; initialDepth = 575.558539; finalDepth = 576.673828; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.673828 # Seafloor depth:-616.673828 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 56.463859 meters # Minimum depth: 615.558539 meters looking forward 0.000000 meters along route # Maximum depth: 615.558539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.558539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024137; longitude = -119.094553; captureRadius = 10; duration = 56; initialDepth = 574.957419; finalDepth = 575.558539; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.558539 # Seafloor depth:-615.558539 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 56.463859 meters # Minimum depth: 614.957419 meters looking forward 0.000000 meters along route # Maximum depth: 614.957419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.957419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024678; longitude = -119.094364; captureRadius = 10; duration = 56; initialDepth = 574.277756; finalDepth = 574.957419; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.957419 # Seafloor depth:-614.957419 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 56.463859 meters # Minimum depth: 614.277756 meters looking forward 0.000000 meters along route # Maximum depth: 614.277756 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.277756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025279; longitude = -119.094155; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 572.472211; finalDepth = 574.277756; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.277756 # Seafloor depth:-614.277756 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 56.463859 meters # Minimum depth: 612.472211 meters looking forward 0.000000 meters along route # Maximum depth: 612.472211 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.472211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025619; longitude = -119.094227; captureRadius = 10; duration = 56; initialDepth = 569.747655; finalDepth = 572.472211; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:572.472211 # Seafloor depth:-612.472211 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 56.463859 meters # Minimum depth: 609.747655 meters looking forward 0.000000 meters along route # Maximum depth: 609.747655 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.747655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026121; longitude = -119.094333; captureRadius = 10; duration = 56; initialDepth = 566.091116; finalDepth = 569.747655; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.747655 # Seafloor depth:-609.747655 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 56.463859 meters # Minimum depth: 606.091116 meters looking forward 0.000000 meters along route # Maximum depth: 606.091116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.091116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026662; longitude = -119.094448; captureRadius = 10; duration = 56; initialDepth = 561.623510; finalDepth = 566.091116; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:566.091116 # Seafloor depth:-606.091116 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 56.463859 meters # Minimum depth: 601.623510 meters looking forward 0.000000 meters along route # Maximum depth: 601.623510 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.623510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027203; longitude = -119.094563; captureRadius = 10; duration = 56; initialDepth = 560.281606; finalDepth = 561.623510; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.62351 # Seafloor depth:-601.623510 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 56.463859 meters # Minimum depth: 600.281606 meters looking forward 0.000000 meters along route # Maximum depth: 600.281606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.281606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027744; longitude = -119.094678; captureRadius = 10; duration = 56; initialDepth = 564.147659; finalDepth = 560.281606; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.281606 # Seafloor depth:-600.281606 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 56.463859 meters # Minimum depth: 604.147659 meters looking forward 0.000000 meters along route # Maximum depth: 604.147659 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.147659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028345; longitude = -119.094805; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 565.680513; finalDepth = 564.147659; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:564.147659 # Seafloor depth:-604.147659 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 56.463859 meters # Minimum depth: 605.680513 meters looking forward 0.000000 meters along route # Maximum depth: 605.680513 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.680513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028339; longitude = -119.094877; captureRadius = 10; duration = 56; initialDepth = 567.777298; finalDepth = 565.680513; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.680513 # Seafloor depth:-605.680513 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 56.463859 meters # Minimum depth: 607.777298 meters looking forward 0.000000 meters along route # Maximum depth: 607.777298 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 567.777298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028285; longitude = -119.095530; captureRadius = 10; duration = 56; initialDepth = 566.812134; finalDepth = 567.777298; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:567.777298 # Seafloor depth:-607.777298 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 56.463859 meters # Minimum depth: 606.812134 meters looking forward 0.000000 meters along route # Maximum depth: 606.812134 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.812134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.028225; longitude = -119.096251; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 569.489754; finalDepth = 566.812134; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:566.812134 # Seafloor depth:-606.812134 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 56.463859 meters # Minimum depth: 609.489754 meters looking forward 0.000000 meters along route # Maximum depth: 609.489754 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.489754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027744; longitude = -119.096129; captureRadius = 10; duration = 56; initialDepth = 570.665455; finalDepth = 569.489754; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.489754 # Seafloor depth:-609.489754 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 56.463859 meters # Minimum depth: 610.665455 meters looking forward 0.000000 meters along route # Maximum depth: 610.665455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.665455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.027203; longitude = -119.095991; captureRadius = 10; duration = 56; initialDepth = 571.088321; finalDepth = 570.665455; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:570.665455 # Seafloor depth:-610.665455 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 56.463859 meters # Minimum depth: 611.088321 meters looking forward 0.000000 meters along route # Maximum depth: 611.088321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.088321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026662; longitude = -119.095853; captureRadius = 10; duration = 56; initialDepth = 573.338227; finalDepth = 571.088321; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.088321 # Seafloor depth:-611.088321 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 56.463859 meters # Minimum depth: 613.338227 meters looking forward 0.000000 meters along route # Maximum depth: 613.338227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.338227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.026121; longitude = -119.095716; captureRadius = 10; duration = 56; initialDepth = 573.311335; finalDepth = 573.338227; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.338227 # Seafloor depth:-613.338227 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 56.463859 meters # Minimum depth: 613.311335 meters looking forward 0.000000 meters along route # Maximum depth: 613.311335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.311335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025580; longitude = -119.095578; captureRadius = 10; duration = 56; initialDepth = 574.895737; finalDepth = 573.311335; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.311335 # Seafloor depth:-613.311335 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 56.463859 meters # Minimum depth: 614.895737 meters looking forward 0.000000 meters along route # Maximum depth: 614.895737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.895737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025099; longitude = -119.095456; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 575.268447; finalDepth = 574.895737; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.895737 # Seafloor depth:-614.895737 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 56.463859 meters # Minimum depth: 615.268447 meters looking forward 0.000000 meters along route # Maximum depth: 615.268447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.268447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.025039; longitude = -119.095480; captureRadius = 10; duration = 56; initialDepth = 575.344330; finalDepth = 575.268447; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.268447 # Seafloor depth:-615.268447 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 56.463859 meters # Minimum depth: 615.344330 meters looking forward 0.000000 meters along route # Maximum depth: 615.344330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.344330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.024498; longitude = -119.095697; captureRadius = 10; duration = 56; initialDepth = 562.624849; finalDepth = 575.344330; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.34433 # Seafloor depth:-615.344330 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 56.463859 meters # Minimum depth: 602.624849 meters looking forward 0.000000 meters along route # Maximum depth: 602.624849 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.624849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023957; longitude = -119.095914; captureRadius = 10; duration = 56; initialDepth = 565.313080; finalDepth = 562.624849; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:562.624849 # Seafloor depth:-602.624849 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 56.463859 meters # Minimum depth: 605.313080 meters looking forward 0.000000 meters along route # Maximum depth: 605.313080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.313080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023476; longitude = -119.096106; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 565.665298; finalDepth = 565.313080; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.31308 # Seafloor depth:-605.313080 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 56.463859 meters # Minimum depth: 605.665298 meters looking forward 0.000000 meters along route # Maximum depth: 605.665298 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.665298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023356; longitude = -119.096395; captureRadius = 10; duration = 56; initialDepth = 571.634077; finalDepth = 565.665298; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.665298 # Seafloor depth:-605.665298 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 56.463859 meters # Minimum depth: 611.634077 meters looking forward 0.000000 meters along route # Maximum depth: 611.634077 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.634077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.023085; longitude = -119.097045; captureRadius = 10; duration = 56; initialDepth = 576.880509; finalDepth = 571.634077; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.634077 # Seafloor depth:-611.634077 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 56.463859 meters # Minimum depth: 616.880509 meters looking forward 0.000000 meters along route # Maximum depth: 616.880509 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.880509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022875; longitude = -119.097552; captureRadius = 10; duration = 56; initialDepth = 580.180152; finalDepth = 576.880509; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.880509 # Seafloor depth:-616.880509 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 56.463859 meters # Minimum depth: 620.180152 meters looking forward 0.000000 meters along route # Maximum depth: 620.180152 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.180152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022635; longitude = -119.098129; captureRadius = 10; duration = 56; initialDepth = 578.388611; finalDepth = 580.180152; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.180152 # Seafloor depth:-620.180152 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 56.463859 meters # Minimum depth: 618.388611 meters looking forward 0.000000 meters along route # Maximum depth: 618.388611 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.388611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.022394; longitude = -119.098708; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 582.681751; finalDepth = 578.388611; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.388611 # Seafloor depth:-618.388611 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 56.463859 meters # Minimum depth: 622.681751 meters looking forward 0.000000 meters along route # Maximum depth: 622.681751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.681751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021973; longitude = -119.099070; captureRadius = 10; duration = 56; initialDepth = 576.737531; finalDepth = 582.681751; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.681751 # Seafloor depth:-622.681751 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 56.463859 meters # Minimum depth: 616.737531 meters looking forward 0.000000 meters along route # Maximum depth: 616.737531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.737531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021552; longitude = -119.099430; captureRadius = 10; duration = 56; initialDepth = 574.819931; finalDepth = 576.737531; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.737531 # Seafloor depth:-616.737531 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 56.463859 meters # Minimum depth: 614.819931 meters looking forward 0.000000 meters along route # Maximum depth: 614.819931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.819931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.021131; longitude = -119.099792; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 577.445146; finalDepth = 574.819931; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.819931 # Seafloor depth:-614.819931 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 56.463859 meters # Minimum depth: 617.445146 meters looking forward 0.000000 meters along route # Maximum depth: 617.445146 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.445146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020973; longitude = -119.099864; captureRadius = 10; duration = 56; initialDepth = 584.862530; finalDepth = 577.445146; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.445146 # Seafloor depth:-617.445146 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 56.463859 meters # Minimum depth: 624.862530 meters looking forward 0.000000 meters along route # Maximum depth: 624.862530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.862530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.020498; longitude = -119.100081; captureRadius = 10; duration = 56; initialDepth = 586.651010; finalDepth = 584.862530; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.86253 # Seafloor depth:-624.862530 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 56.463859 meters # Minimum depth: 626.651010 meters looking forward 0.000000 meters along route # Maximum depth: 626.651010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.651010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019989; longitude = -119.100313; captureRadius = 10; duration = 56; initialDepth = 586.982269; finalDepth = 586.651010; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.65101 # Seafloor depth:-626.651010 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 56.463859 meters # Minimum depth: 626.982269 meters looking forward 0.000000 meters along route # Maximum depth: 626.982269 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.982269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019388; longitude = -119.100587; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 587.260987; finalDepth = 586.982269; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.982269 # Seafloor depth:-626.982269 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 56.463859 meters # Minimum depth: 627.260987 meters looking forward 0.000000 meters along route # Maximum depth: 627.260987 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.260987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.019087; longitude = -119.100564; captureRadius = 10; duration = 56; initialDepth = 588.004973; finalDepth = 587.260987; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.260987 # Seafloor depth:-627.260987 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 56.463859 meters # Minimum depth: 628.004973 meters looking forward 0.000000 meters along route # Maximum depth: 628.004973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.004973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018546; longitude = -119.100522; captureRadius = 10; duration = 56; initialDepth = 588.504282; finalDepth = 588.004973; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.004973 # Seafloor depth:-628.004973 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 56.463859 meters # Minimum depth: 628.504282 meters looking forward 0.000000 meters along route # Maximum depth: 628.504282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.504282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.018005; longitude = -119.100479; captureRadius = 10; duration = 56; initialDepth = 593.427795; finalDepth = 588.504282; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.504282 # Seafloor depth:-628.504282 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 56.463859 meters # Minimum depth: 633.427795 meters looking forward 0.000000 meters along route # Maximum depth: 633.427795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.427795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017524; longitude = -119.100442; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 597.313422; finalDepth = 593.427795; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.427795 # Seafloor depth:-633.427795 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 56.463859 meters # Minimum depth: 637.313422 meters looking forward 0.000000 meters along route # Maximum depth: 637.313422 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 597.313422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.017284; longitude = -119.100053; captureRadius = 10; duration = 56; initialDepth = 600.412218; finalDepth = 597.313422; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:597.313422 # Seafloor depth:-637.313422 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 56.463859 meters # Minimum depth: 640.412218 meters looking forward 0.000000 meters along route # Maximum depth: 640.412218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.412218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016900; longitude = -119.099430; captureRadius = 10; duration = 56; initialDepth = 599.562170; finalDepth = 600.412218; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:600.412218 # Seafloor depth:-640.412218 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 56.463859 meters # Minimum depth: 639.562170 meters looking forward 0.000000 meters along route # Maximum depth: 639.562170 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 599.562170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016499; longitude = -119.098780; captureRadius = 10; duration = 56; initialDepth = 600.741943; finalDepth = 599.562170; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:599.56217 # Seafloor depth:-639.562170 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 56.463859 meters # Minimum depth: 640.741943 meters looking forward 0.000000 meters along route # Maximum depth: 640.741943 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.741943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.016142; longitude = -119.098202; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 596.558905; finalDepth = 600.741943; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:600.741943 # Seafloor depth:-640.741943 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 56.463859 meters # Minimum depth: 636.558905 meters looking forward 0.000000 meters along route # Maximum depth: 636.558905 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.558905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015819; longitude = -119.098129; captureRadius = 10; duration = 56; initialDepth = 587.018054; finalDepth = 596.558905; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.558905 # Seafloor depth:-636.558905 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 56.463859 meters # Minimum depth: 627.018054 meters looking forward 0.000000 meters along route # Maximum depth: 627.018054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.018054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.015300; longitude = -119.098013; captureRadius = 10; duration = 56; initialDepth = 585.639100; finalDepth = 587.018054; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.018054 # Seafloor depth:-627.018054 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 56.463859 meters # Minimum depth: 625.639100 meters looking forward 0.000000 meters along route # Maximum depth: 625.639100 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.639100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014854; longitude = -119.097913; captureRadius = 10; duration = 56; initialDepth = 586.101843; finalDepth = 585.639100; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.6391 # Seafloor depth:-625.639100 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 56.463859 meters # Minimum depth: 626.101843 meters looking forward 0.000000 meters along route # Maximum depth: 626.101843 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.101843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.014398; longitude = -119.097810; captureRadius = 10; duration = 56; initialDepth = 586.526967; finalDepth = 586.101843; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.101843 # Seafloor depth:-626.101843 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 56.463859 meters # Minimum depth: 626.526967 meters looking forward 0.000000 meters along route # Maximum depth: 626.526967 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.526967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013857; longitude = -119.097689; captureRadius = 10; duration = 56; initialDepth = 587.124362; finalDepth = 586.526967; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.526967 # Seafloor depth:-626.526967 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 56.463859 meters # Minimum depth: 627.124362 meters looking forward 0.000000 meters along route # Maximum depth: 627.124362 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.124362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.013316; longitude = -119.097567; captureRadius = 10; duration = 56; initialDepth = 586.786100; finalDepth = 587.124362; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.124362 # Seafloor depth:-627.124362 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 56.463859 meters # Minimum depth: 626.786100 meters looking forward 0.000000 meters along route # Maximum depth: 626.786100 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.786100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012775; longitude = -119.097446; captureRadius = 10; duration = 56; initialDepth = 586.642453; finalDepth = 586.786100; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.7861 # Seafloor depth:-626.786100 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 56.463859 meters # Minimum depth: 626.642453 meters looking forward 0.000000 meters along route # Maximum depth: 626.642453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.642453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.012234; longitude = -119.097324; captureRadius = 10; duration = 56; initialDepth = 588.199049; finalDepth = 586.642453; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.642453 # Seafloor depth:-626.642453 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 56.463859 meters # Minimum depth: 628.199049 meters looking forward 0.000000 meters along route # Maximum depth: 628.199049 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.199049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011693; longitude = -119.097203; captureRadius = 10; duration = 56; initialDepth = 591.113086; finalDepth = 588.199049; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.199049 # Seafloor depth:-628.199049 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 56.463859 meters # Minimum depth: 631.113086 meters looking forward 0.000000 meters along route # Maximum depth: 631.113086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.113086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.011152; longitude = -119.097081; captureRadius = 10; duration = 56; initialDepth = 589.718994; finalDepth = 591.113086; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.113086 # Seafloor depth:-631.113086 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 56.463859 meters # Minimum depth: 629.718994 meters looking forward 0.000000 meters along route # Maximum depth: 629.718994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.718994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010671; longitude = -119.096973; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 587.960817; finalDepth = 589.718994; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:589.718994 # Seafloor depth:-629.718994 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 56.463859 meters # Minimum depth: 627.960817 meters looking forward 0.000000 meters along route # Maximum depth: 627.960817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.960817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.010183; longitude = -119.096829; captureRadius = 10; duration = 56; initialDepth = 590.134813; finalDepth = 587.960817; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.960817 # Seafloor depth:-627.960817 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 56.463859 meters # Minimum depth: 630.134813 meters looking forward 0.000000 meters along route # Maximum depth: 630.134813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.134813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009709; longitude = -119.096688; captureRadius = 10; duration = 56; initialDepth = 590.007789; finalDepth = 590.134813; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.134813 # Seafloor depth:-630.134813 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 56.463859 meters # Minimum depth: 630.007789 meters looking forward 0.000000 meters along route # Maximum depth: 630.007789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.007789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.009168; longitude = -119.096528; captureRadius = 10; duration = 56; initialDepth = 594.978631; finalDepth = 590.007789; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.007789 # Seafloor depth:-630.007789 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 56.463859 meters # Minimum depth: 634.978631 meters looking forward 0.000000 meters along route # Maximum depth: 634.978631 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.978631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008718; longitude = -119.096395; captureRadius = 10; duration = 56; initialDepth = 587.003157; finalDepth = 594.978631; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.978631 # Seafloor depth:-634.978631 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 56.463859 meters # Minimum depth: 627.003157 meters looking forward 0.000000 meters along route # Maximum depth: 627.003157 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.003157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.008267; longitude = -119.096262; captureRadius = 10; duration = 56; initialDepth = 592.394234; finalDepth = 587.003157; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.003157 # Seafloor depth:-627.003157 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 56.463859 meters # Minimum depth: 632.394234 meters looking forward 0.000000 meters along route # Maximum depth: 632.394234 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 592.394234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007726; longitude = -119.096102; captureRadius = 10; duration = 56; initialDepth = 598.402742; finalDepth = 592.394234; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:592.394234 # Seafloor depth:-632.394234 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 56.463859 meters # Minimum depth: 638.402742 meters looking forward 0.000000 meters along route # Maximum depth: 638.402742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 598.402742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.007252; longitude = -119.095961; captureRadius = 10; duration = 56; initialDepth = 612.591461; finalDepth = 598.402742; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:598.402742 # Seafloor depth:-638.402742 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 56.463859 meters # Minimum depth: 652.591461 meters looking forward 0.000000 meters along route # Maximum depth: 652.591461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.591461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006764; longitude = -119.095817; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 613.754526; finalDepth = 612.591461; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:612.591461 # Seafloor depth:-652.591461 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 56.463859 meters # Minimum depth: 653.754526 meters looking forward 0.000000 meters along route # Maximum depth: 653.754526 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 613.754526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006283; longitude = -119.095844; captureRadius = 10; duration = 56; initialDepth = 616.072329; finalDepth = 613.754526; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:613.754526 # Seafloor depth:-653.754526 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 56.463859 meters # Minimum depth: 656.072329 meters looking forward 0.000000 meters along route # Maximum depth: 656.072329 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 616.072329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005742; longitude = -119.095875; captureRadius = 10; duration = 56; initialDepth = 617.922819; finalDepth = 616.072329; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:616.072329 # Seafloor depth:-656.072329 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 56.463859 meters # Minimum depth: 657.922819 meters looking forward 0.000000 meters along route # Maximum depth: 657.922819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 617.922819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005201; longitude = -119.095905; captureRadius = 10; duration = 56; initialDepth = 622.296434; finalDepth = 617.922819; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:617.922819 # Seafloor depth:-657.922819 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 56.463859 meters # Minimum depth: 662.296434 meters looking forward 0.000000 meters along route # Maximum depth: 662.296434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.296434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004660; longitude = -119.095936; captureRadius = 10; duration = 56; initialDepth = 621.806418; finalDepth = 622.296434; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:622.296434 # Seafloor depth:-662.296434 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 56.463859 meters # Minimum depth: 661.806418 meters looking forward 0.000000 meters along route # Maximum depth: 661.806418 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.806418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004209; longitude = -119.095961; captureRadius = 10; duration = 56; initialDepth = 618.337863; finalDepth = 621.806418; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:621.806418 # Seafloor depth:-661.806418 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 56.463859 meters # Minimum depth: 658.337863 meters looking forward 0.000000 meters along route # Maximum depth: 658.337863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 618.337863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003758; longitude = -119.095987; captureRadius = 10; duration = 56; initialDepth = 621.592424; finalDepth = 618.337863; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:618.337863 # Seafloor depth:-658.337863 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 56.463859 meters # Minimum depth: 661.592424 meters looking forward 0.000000 meters along route # Maximum depth: 661.592424 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.592424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003217; longitude = -119.096018; captureRadius = 10; duration = 56; initialDepth = 627.045406; finalDepth = 621.592424; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:621.592424 # Seafloor depth:-661.592424 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 56.463859 meters # Minimum depth: 667.045406 meters looking forward 0.000000 meters along route # Maximum depth: 667.045406 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 627.045406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002676; longitude = -119.096048; captureRadius = 10; duration = 56; initialDepth = 632.368352; finalDepth = 627.045406; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:627.045406 # Seafloor depth:-667.045406 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 56.463859 meters # Minimum depth: 672.368352 meters looking forward 0.000000 meters along route # Maximum depth: 672.368352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 632.368352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002135; longitude = -119.096079; captureRadius = 10; duration = 56; initialDepth = 631.348923; finalDepth = 632.368352; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:632.368352 # Seafloor depth:-672.368352 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 56.463859 meters # Minimum depth: 671.348923 meters looking forward 0.000000 meters along route # Maximum depth: 671.348923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 631.348923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001654; longitude = -119.096106; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 634.221321; finalDepth = 631.348923; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:631.348923 # Seafloor depth:-671.348923 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 56.463859 meters # Minimum depth: 674.221321 meters looking forward 0.000000 meters along route # Maximum depth: 674.221321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.221321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001476; longitude = -119.095745; captureRadius = 10; duration = 56; initialDepth = 635.798521; finalDepth = 634.221321; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:634.221321 # Seafloor depth:-674.221321 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 56.463859 meters # Minimum depth: 675.798521 meters looking forward 0.000000 meters along route # Maximum depth: 675.798521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.798521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001233; longitude = -119.095251; captureRadius = 10; duration = 56; initialDepth = 631.887389; finalDepth = 635.798521; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:635.798521 # Seafloor depth:-675.798521 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 56.463859 meters # Minimum depth: 671.887389 meters looking forward 0.000000 meters along route # Maximum depth: 671.887389 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 631.887389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000943; longitude = -119.094661; captureRadius = 10; duration = 56; initialDepth = 612.299218; finalDepth = 631.887389; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:631.887389 # Seafloor depth:-671.887389 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 56.463859 meters # Minimum depth: 652.299218 meters looking forward 0.000000 meters along route # Maximum depth: 652.299218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.299218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000692; longitude = -119.094152; captureRadius = 10; duration = 56; initialDepth = 616.449973; finalDepth = 612.299218; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:612.299218 # Seafloor depth:-652.299218 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 56.463859 meters # Minimum depth: 656.449973 meters looking forward 0.000000 meters along route # Maximum depth: 656.449973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 616.449973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000409; longitude = -119.093577; captureRadius = 10; duration = 56; initialDepth = 627.332244; finalDepth = 616.449973; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:616.449973 # Seafloor depth:-656.449973 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 56.463859 meters # Minimum depth: 667.332244 meters looking forward 0.000000 meters along route # Maximum depth: 667.332244 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 627.332244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000151; longitude = -119.093053; captureRadius = 10; duration = 56; initialDepth = 628.962326; finalDepth = 627.332244; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:627.332244 # Seafloor depth:-667.332244 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 56.463859 meters # Minimum depth: 668.962326 meters looking forward 0.000000 meters along route # Maximum depth: 668.962326 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.962326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999911; longitude = -119.092565; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 629.152670; finalDepth = 628.962326; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:628.962326 # Seafloor depth:-668.962326 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 56.463859 meters # Minimum depth: 669.152670 meters looking forward 0.000000 meters along route # Maximum depth: 669.152670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 629.152670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999902; longitude = -119.092493; captureRadius = 10; duration = 56; initialDepth = 631.210237; finalDepth = 629.152670; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:629.15267 # Seafloor depth:-669.152670 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 56.463859 meters # Minimum depth: 671.210237 meters looking forward 0.000000 meters along route # Maximum depth: 671.210237 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 631.210237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999819; longitude = -119.091842; captureRadius = 10; duration = 56; initialDepth = 632.513566; finalDepth = 631.210237; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:631.210237 # Seafloor depth:-671.210237 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 56.463859 meters # Minimum depth: 672.513566 meters looking forward 0.000000 meters along route # Maximum depth: 672.513566 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 632.513566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999735; longitude = -119.091192; captureRadius = 10; duration = 56; initialDepth = 634.406433; finalDepth = 632.513566; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:632.513566 # Seafloor depth:-672.513566 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 56.463859 meters # Minimum depth: 674.406433 meters looking forward 0.000000 meters along route # Maximum depth: 674.406433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.406433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999652; longitude = -119.090542; captureRadius = 10; duration = 56; initialDepth = 635.060924; finalDepth = 634.406433; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:634.406433 # Seafloor depth:-674.406433 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 56.463859 meters # Minimum depth: 675.060924 meters looking forward 0.000000 meters along route # Maximum depth: 675.060924 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.060924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999569; longitude = -119.089891; captureRadius = 10; duration = 56; initialDepth = 635.651812; finalDepth = 635.060924; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:635.060924 # Seafloor depth:-675.060924 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 56.463859 meters # Minimum depth: 675.651812 meters looking forward 0.000000 meters along route # Maximum depth: 675.651812 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.651812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999486; longitude = -119.089241; captureRadius = 10; duration = 56; initialDepth = 635.647059; finalDepth = 635.651812; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:635.651812 # Seafloor depth:-675.651812 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 56.463859 meters # Minimum depth: 675.647059 meters looking forward 0.000000 meters along route # Maximum depth: 675.647059 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.647059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999402; longitude = -119.088590; captureRadius = 10; duration = 56; initialDepth = 637.965591; finalDepth = 635.647059; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:635.647059 # Seafloor depth:-675.647059 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 56.463859 meters # Minimum depth: 677.965591 meters looking forward 0.000000 meters along route # Maximum depth: 677.965591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 637.965591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999310; longitude = -119.087868; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 637.435066; finalDepth = 637.965591; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:637.965591 # Seafloor depth:-677.965591 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 56.463859 meters # Minimum depth: 677.435066 meters looking forward 0.000000 meters along route # Maximum depth: 677.435066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 637.435066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999627; longitude = -119.087506; captureRadius = 10; duration = 56; initialDepth = 625.724530; finalDepth = 637.435066; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:637.435066 # Seafloor depth:-677.435066 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 56.463859 meters # Minimum depth: 665.724530 meters looking forward 0.000000 meters along route # Maximum depth: 665.724530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 625.724530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999971; longitude = -119.087113; captureRadius = 10; duration = 56; initialDepth = 620.022514; finalDepth = 625.724530; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:625.72453 # Seafloor depth:-665.724530 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 56.463859 meters # Minimum depth: 660.022514 meters looking forward 0.000000 meters along route # Maximum depth: 660.022514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.022514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000331; longitude = -119.086701; captureRadius = 10; duration = 56; initialDepth = 619.016115; finalDepth = 620.022514; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:620.022514 # Seafloor depth:-660.022514 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 56.463859 meters # Minimum depth: 659.016115 meters looking forward 0.000000 meters along route # Maximum depth: 659.016115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.016115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000692; longitude = -119.086289; captureRadius = 10; duration = 56; initialDepth = 618.187478; finalDepth = 619.016115; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.016115 # Seafloor depth:-659.016115 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 56.463859 meters # Minimum depth: 658.187478 meters looking forward 0.000000 meters along route # Maximum depth: 658.187478 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 618.187478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001053; longitude = -119.085877; captureRadius = 10; duration = 56; initialDepth = 616.549953; finalDepth = 618.187478; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:618.187478 # Seafloor depth:-658.187478 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 56.463859 meters # Minimum depth: 656.549953 meters looking forward 0.000000 meters along route # Maximum depth: 656.549953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 616.549953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001414; longitude = -119.085465; captureRadius = 10; duration = 56; initialDepth = 607.920315; finalDepth = 616.549953; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:616.549953 # Seafloor depth:-656.549953 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 56.463859 meters # Minimum depth: 647.920315 meters looking forward 0.000000 meters along route # Maximum depth: 647.920315 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.920315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001774; longitude = -119.085053; captureRadius = 10; duration = 56; initialDepth = 603.238147; finalDepth = 607.920315; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:607.920315 # Seafloor depth:-647.920315 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 56.463859 meters # Minimum depth: 643.238147 meters looking forward 0.000000 meters along route # Maximum depth: 643.238147 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.238147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002135; longitude = -119.084641; captureRadius = 10; duration = 56; initialDepth = 601.060677; finalDepth = 603.238147; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:603.238147 # Seafloor depth:-643.238147 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 56.463859 meters # Minimum depth: 641.060677 meters looking forward 0.000000 meters along route # Maximum depth: 641.060677 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 601.060677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002496; longitude = -119.084229; captureRadius = 10; duration = 56; initialDepth = 600.135132; finalDepth = 601.060677; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:601.060677 # Seafloor depth:-641.060677 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 56.463859 meters # Minimum depth: 640.135132 meters looking forward 0.000000 meters along route # Maximum depth: 640.135132 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.135132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002856; longitude = -119.083817; captureRadius = 10; duration = 56; initialDepth = 597.642081; finalDepth = 600.135132; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:600.135132 # Seafloor depth:-640.135132 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 56.463859 meters # Minimum depth: 637.642081 meters looking forward 0.000000 meters along route # Maximum depth: 637.642081 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 597.642081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003233; longitude = -119.083387; captureRadius = 10; duration = 56; initialDepth = 595.069942; finalDepth = 597.642081; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:597.642081 # Seafloor depth:-637.642081 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 56.463859 meters # Minimum depth: 635.069942 meters looking forward 0.000000 meters along route # Maximum depth: 635.069942 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.069942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003578; longitude = -119.082993; captureRadius = 10; duration = 56; initialDepth = 593.190189; finalDepth = 595.069942; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:595.069942 # Seafloor depth:-635.069942 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 56.463859 meters # Minimum depth: 633.190189 meters looking forward 0.000000 meters along route # Maximum depth: 633.190189 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.190189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003938; longitude = -119.082581; captureRadius = 10; duration = 56; initialDepth = 590.503088; finalDepth = 593.190189; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.190189 # Seafloor depth:-633.190189 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 56.463859 meters # Minimum depth: 630.503088 meters looking forward 0.000000 meters along route # Maximum depth: 630.503088 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.503088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004299; longitude = -119.082169; captureRadius = 10; duration = 56; initialDepth = 587.831286; finalDepth = 590.503088; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.503088 # Seafloor depth:-630.503088 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 56.463859 meters # Minimum depth: 627.831286 meters looking forward 0.000000 meters along route # Maximum depth: 627.831286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.831286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004660; longitude = -119.081757; captureRadius = 10; duration = 56; initialDepth = 584.397880; finalDepth = 587.831286; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.831286 # Seafloor depth:-627.831286 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 56.463859 meters # Minimum depth: 624.397880 meters looking forward 0.000000 meters along route # Maximum depth: 624.397880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.397880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005020; longitude = -119.081345; captureRadius = 10; duration = 56; initialDepth = 581.571362; finalDepth = 584.397880; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.39788 # Seafloor depth:-624.397880 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 56.463859 meters # Minimum depth: 621.571362 meters looking forward 0.000000 meters along route # Maximum depth: 621.571362 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.571362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005381; longitude = -119.080933; captureRadius = 10; duration = 56; initialDepth = 577.871752; finalDepth = 581.571362; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:581.571362 # Seafloor depth:-621.571362 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 56.463859 meters # Minimum depth: 617.871752 meters looking forward 0.000000 meters along route # Maximum depth: 617.871752 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.871752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005742; longitude = -119.080521; captureRadius = 10; duration = 56; initialDepth = 574.944436; finalDepth = 577.871752; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.871752 # Seafloor depth:-617.871752 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 56.463859 meters # Minimum depth: 614.944436 meters looking forward 0.000000 meters along route # Maximum depth: 614.944436 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.944436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006102; longitude = -119.080109; captureRadius = 10; duration = 56; initialDepth = 570.187469; finalDepth = 574.944436; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.944436 # Seafloor depth:-614.944436 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 56.463859 meters # Minimum depth: 610.187469 meters looking forward 0.000000 meters along route # Maximum depth: 610.187469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.187469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006523; longitude = -119.079629; captureRadius = 10; duration = 56; # abortOnTimeout = True; initialDepth = 570.007878; finalDepth = 570.187469; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:570.187469 # Seafloor depth:-610.187469 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 610.007878 meters looking forward 0.000000 meters along route # Maximum depth: 610.007878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.007878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006463; longitude = -119.079418; captureRadius = 10; duration = 56; initialDepth = 568.283638; finalDepth = 570.007878; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:570.007878 # Seafloor depth:-610.007878 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 608.283638 meters looking forward 0.000000 meters along route # Maximum depth: 608.283638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 568.283638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006283; longitude = -119.078781; captureRadius = 10; duration = 56; initialDepth = 567.910636; finalDepth = 568.283638; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:568.283638 # Seafloor depth:-608.283638 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 607.910636 meters looking forward 0.000000 meters along route # Maximum depth: 607.910636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 567.910636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.006102; longitude = -119.078145; captureRadius = 10; duration = 56; initialDepth = 566.948656; finalDepth = 567.910636; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:567.910636 # Seafloor depth:-607.910636 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 606.948656 meters looking forward 0.000000 meters along route # Maximum depth: 606.948656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.948656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005922; longitude = -119.077508; captureRadius = 10; duration = 56; initialDepth = 565.405748; finalDepth = 566.948656; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:566.948656 # Seafloor depth:-606.948656 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 605.405748 meters looking forward 0.000000 meters along route # Maximum depth: 605.405748 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.405748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005742; longitude = -119.076872; captureRadius = 10; duration = 56; initialDepth = 562.545629; finalDepth = 565.405748; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.405748 # Seafloor depth:-605.405748 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 602.545629 meters looking forward 0.000000 meters along route # Maximum depth: 602.545629 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.545629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005561; longitude = -119.076233; captureRadius = 10; duration = 56; initialDepth = 558.254496; finalDepth = 562.545629; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:562.545629 # Seafloor depth:-602.545629 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 598.254496 meters looking forward 0.000000 meters along route # Maximum depth: 598.254496 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.254496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005377; longitude = -119.075582; captureRadius = 10; duration = 56; initialDepth = 553.266912; finalDepth = 558.254496; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.254496 # Seafloor depth:-598.254496 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 593.266912 meters looking forward 0.000000 meters along route # Maximum depth: 593.266912 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.266912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005192; longitude = -119.074932; captureRadius = 10; duration = 56; initialDepth = 547.068216; finalDepth = 553.266912; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.266912 # Seafloor depth:-593.266912 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 587.068216 meters looking forward 0.000000 meters along route # Maximum depth: 587.068216 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.068216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.005008; longitude = -119.074282; captureRadius = 10; duration = 56; initialDepth = 531.245647; finalDepth = 547.068216; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.068216 # Seafloor depth:-587.068216 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 571.245647 meters looking forward 0.000000 meters along route # Maximum depth: 571.245647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.245647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004824; longitude = -119.073631; captureRadius = 10; duration = 56; initialDepth = 514.404203; finalDepth = 531.245647; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:531.245647 # Seafloor depth:-571.245647 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 554.404203 meters looking forward 0.000000 meters along route # Maximum depth: 554.404203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.404203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004639; longitude = -119.072981; captureRadius = 10; duration = 56; initialDepth = 494.899959; finalDepth = 514.404203; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:514.404203 # Seafloor depth:-554.404203 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 534.899959 meters looking forward 0.000000 meters along route # Maximum depth: 534.899959 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.899959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004455; longitude = -119.072330; captureRadius = 10; duration = 56; initialDepth = 479.213176; finalDepth = 494.899959; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:494.899959 # Seafloor depth:-534.899959 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 519.213176 meters looking forward 0.000000 meters along route # Maximum depth: 519.213176 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.213176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004271; longitude = -119.071680; captureRadius = 10; duration = 56; initialDepth = 464.649602; finalDepth = 479.213176; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:479.213176 # Seafloor depth:-519.213176 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 504.649602 meters looking forward 0.000000 meters along route # Maximum depth: 504.649602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 464.649602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.004087; longitude = -119.071030; captureRadius = 10; duration = 56; initialDepth = 452.433866; finalDepth = 464.649602; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:464.649602 # Seafloor depth:-504.649602 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 492.433866 meters looking forward 0.000000 meters along route # Maximum depth: 492.433866 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 452.433866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003938; longitude = -119.070506; captureRadius = 10; duration = 56; initialDepth = 440.449744; finalDepth = 452.433866; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:452.433866 # Seafloor depth:-492.433866 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 480.449744 meters looking forward 0.000000 meters along route # Maximum depth: 480.449744 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 440.449744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003758; longitude = -119.069869; captureRadius = 10; duration = 56; initialDepth = 427.047181; finalDepth = 440.449744; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:440.449744 # Seafloor depth:-480.449744 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 467.047181 meters looking forward 0.000000 meters along route # Maximum depth: 467.047181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 427.047181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003578; longitude = -119.069233; captureRadius = 10; duration = 56; initialDepth = 415.514881; finalDepth = 427.047181; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:427.047181 # Seafloor depth:-467.047181 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 455.514881 meters looking forward 0.000000 meters along route # Maximum depth: 455.514881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 415.514881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003397; longitude = -119.068596; captureRadius = 10; duration = 56; initialDepth = 402.245001; finalDepth = 415.514881; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:415.514881 # Seafloor depth:-455.514881 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 442.245001 meters looking forward 0.000000 meters along route # Maximum depth: 442.245001 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 402.245001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003217; longitude = -119.067960; captureRadius = 10; duration = 56; initialDepth = 383.411563; finalDepth = 402.245001; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:402.245001 # Seafloor depth:-442.245001 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 423.411563 meters looking forward 0.000000 meters along route # Maximum depth: 423.411563 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.411563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.003037; longitude = -119.067323; captureRadius = 10; duration = 56; initialDepth = 363.415617; finalDepth = 383.411563; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:383.411563 # Seafloor depth:-423.411563 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 403.415617 meters looking forward 0.000000 meters along route # Maximum depth: 403.415617 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 363.415617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002856; longitude = -119.066687; captureRadius = 10; duration = 56; initialDepth = 344.944734; finalDepth = 363.415617; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:363.415617 # Seafloor depth:-403.415617 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 384.944734 meters looking forward 0.000000 meters along route # Maximum depth: 384.944734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 344.944734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002674; longitude = -119.066043; captureRadius = 10; duration = 56; initialDepth = 331.302015; finalDepth = 344.944734; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:344.944734 # Seafloor depth:-384.944734 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 371.302015 meters looking forward 0.000000 meters along route # Maximum depth: 371.302015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.302015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002490; longitude = -119.065393; captureRadius = 10; duration = 56; initialDepth = 310.563519; finalDepth = 331.302015; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:331.302015 # Seafloor depth:-371.302015 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 350.563519 meters looking forward 0.000000 meters along route # Maximum depth: 350.563519 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 310.563519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002305; longitude = -119.064742; captureRadius = 10; duration = 56; initialDepth = 292.343100; finalDepth = 310.563519; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:310.563519 # Seafloor depth:-350.563519 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 332.343100 meters looking forward 0.000000 meters along route # Maximum depth: 332.343100 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 292.343100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.002121; longitude = -119.064092; captureRadius = 10; duration = 56; initialDepth = 272.777779; finalDepth = 292.343100; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:292.3431 # Seafloor depth:-332.343100 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 312.777779 meters looking forward 0.000000 meters along route # Maximum depth: 312.777779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 272.777779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001937; longitude = -119.063442; captureRadius = 10; duration = 56; initialDepth = 255.245503; finalDepth = 272.777779; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:272.777779 # Seafloor depth:-312.777779 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 295.245503 meters looking forward 0.000000 meters along route # Maximum depth: 295.245503 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 255.245503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001753; longitude = -119.062791; captureRadius = 10; duration = 56; initialDepth = 238.135803; finalDepth = 255.245503; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:255.245503 # Seafloor depth:-295.245503 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 278.135803 meters looking forward 0.000000 meters along route # Maximum depth: 278.135803 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 238.135803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001568; longitude = -119.062141; captureRadius = 10; duration = 56; initialDepth = 224.126063; finalDepth = 238.135803; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:238.135803 # Seafloor depth:-278.135803 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 264.126063 meters looking forward 0.000000 meters along route # Maximum depth: 264.126063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 224.126063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001384; longitude = -119.061490; captureRadius = 10; duration = 56; initialDepth = 206.572365; finalDepth = 224.126063; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:224.126063 # Seafloor depth:-264.126063 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 246.572365 meters looking forward 0.000000 meters along route # Maximum depth: 246.572365 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 206.572365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001200; longitude = -119.060840; captureRadius = 10; duration = 56; initialDepth = 188.494952; finalDepth = 206.572365; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:206.572365 # Seafloor depth:-246.572365 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 228.494952 meters looking forward 0.000000 meters along route # Maximum depth: 228.494952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 188.494952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.001016; longitude = -119.060190; captureRadius = 10; duration = 56; initialDepth = 172.572810; finalDepth = 188.494952; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:188.494952 # Seafloor depth:-228.494952 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 212.572810 meters looking forward 0.000000 meters along route # Maximum depth: 212.572810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 172.572810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000831; longitude = -119.059539; captureRadius = 10; duration = 56; initialDepth = 157.668654; finalDepth = 172.572810; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:172.57281 # Seafloor depth:-212.572810 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 197.668654 meters looking forward 0.000000 meters along route # Maximum depth: 197.668654 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 157.668654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000647; longitude = -119.058889; captureRadius = 10; duration = 56; initialDepth = 141.439752; finalDepth = 157.668654; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:157.668654 # Seafloor depth:-197.668654 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 181.439752 meters looking forward 0.000000 meters along route # Maximum depth: 181.439752 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 141.439752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000463; longitude = -119.058238; captureRadius = 10; duration = 56; initialDepth = 125.345897; finalDepth = 141.439752; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:141.439752 # Seafloor depth:-181.439752 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 165.345897 meters looking forward 0.000000 meters along route # Maximum depth: 165.345897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 125.345897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000279; longitude = -119.057588; captureRadius = 10; duration = 56; initialDepth = 108.351233; finalDepth = 125.345897; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:125.345897 # Seafloor depth:-165.345897 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 148.351233 meters looking forward 0.000000 meters along route # Maximum depth: 148.351233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 108.351233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 34.000094; longitude = -119.056938; captureRadius = 10; duration = 56; initialDepth = 93.167790; finalDepth = 108.351233; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:108.351233 # Seafloor depth:-148.351233 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 133.167790 meters looking forward 0.000000 meters along route # Maximum depth: 133.167790 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 93.167790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999910; longitude = -119.056287; captureRadius = 10; duration = 56; initialDepth = 79.797750; finalDepth = 93.167790; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:93.16779 # Seafloor depth:-133.167790 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 119.797750 meters looking forward 0.000000 meters along route # Maximum depth: 119.797750 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.797750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999726; longitude = -119.055637; captureRadius = 10; duration = 56; initialDepth = 70.581823; finalDepth = 79.797750; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:79.79775 # Seafloor depth:-119.797750 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 110.581823 meters looking forward 0.000000 meters along route # Maximum depth: 110.581823 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.581823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999541; longitude = -119.054986; captureRadius = 10; duration = 56; initialDepth = 66.241945; finalDepth = 70.581823; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:70.581823 # Seafloor depth:-110.581823 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 106.241945 meters looking forward 0.000000 meters along route # Maximum depth: 106.241945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.241945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999357; longitude = -119.054336; captureRadius = 10; duration = 56; initialDepth = 63.498430; finalDepth = 66.241945; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.241945 # Seafloor depth:-106.241945 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 56.463859 meters # Minimum depth: 103.498430 meters looking forward 0.000000 meters along route # Maximum depth: 103.498430 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.498430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999173; longitude = -119.053686; captureRadius = 10; duration = 56; initialDepth = 61.348633; finalDepth = 63.498430; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.49843 # Seafloor depth:-103.498430 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = RESON_DURATION; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 40 # Sonar parameter altitude: 50 # Commanded vehicle depth:61.348633 # Seafloor depth:-101.348633 # 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 = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # # Acoustic update - sent status ping before start of logging # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 56.463859 meters # Minimum depth: 101.348633 meters looking forward 0.000000 meters along route # Maximum depth: 101.348633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 740.363834 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.348633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.999009; longitude = -119.053107; captureRadius = 10; duration = 600; initialDepth = 61.348633; finalDepth = 61.348633; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 90.0; 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 = 90.0; 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 = 160.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.00; MB_Bottom_Detect_Filter_Max_Range = 160.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 1; Window_Size = 200; } # 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