# 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: 2010_SanDiegoTrough_1v1.rte # Mission File: 2010_SanDiegoTrough_1v1.cfg # Distance: 85999.024178 (m) # Estimated Time: 59264 (s) 16.462 (hr) # Abort Time: 61742 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1257 (s) # Way Points: 31 # Route Points: 696 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 75 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.4 # Subbottom enabled # Low sidescan disabled # High sidescan disabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 1041.323465 (m) # Abort Vehicle Depth: 1066.323465 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 999.160797 m # Spiral descent altitude: 50 m # Forward Looking Distance: 100 (m) # Waypoint Spacing: 100 (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 -117.778285 32.895489 -1059.160797 0.000000 3 # 1 -117.782110 32.916441 -1011.983073 2350.233741 4 # 2 -117.778881 32.918245 -1013.782796 2712.362748 3 # 3 -117.759507 32.906522 -1053.415527 4941.967652 4 # 4 -117.743363 32.915540 -1020.818278 6752.692789 1 # 5 -117.744372 32.916963 -1009.372299 6936.560234 3 # 6 -117.796750 32.886607 -1049.069275 12879.826691 4 # 7 -117.797658 32.887722 -1049.896912 13029.826691 3 # 8 -117.745280 32.918078 -998.732681 18973.093148 4 # 9 -117.746188 32.919194 -995.722076 19123.093148 3 # 10 -117.798567 32.888837 -1050.109283 25066.359605 4 # 11 -117.799475 32.889952 -1050.101990 25216.359605 3 # 12 -117.747096 32.920309 -991.350266 31159.626063 4 # 13 -117.748004 32.921424 -991.945175 31309.626063 3 # 14 -117.800384 32.891067 -1051.316406 37252.892520 4 # 15 -117.801292 32.892182 -1052.185852 37402.892520 3 # 16 -117.748912 32.922540 -990.914459 43346.158977 4 # 17 -117.749821 32.923655 -990.779282 43496.158977 3 # 18 -117.802200 32.893297 -1050.533295 49439.425434 4 # 19 -117.803109 32.894412 -1051.027924 49589.425434 3 # 20 -117.750729 32.924770 -985.284531 55532.691892 4 # 21 -117.751637 32.925886 -981.017105 55682.691892 3 # 22 -117.804017 32.895527 -1050.115631 61625.958349 4 # 23 -117.804926 32.896642 -1050.714294 61775.958349 3 # 24 -117.752545 32.927001 -978.911469 67719.224806 4 # 25 -117.753453 32.928116 -979.397125 67869.224806 3 # 26 -117.805835 32.897757 -1050.396454 73812.491264 4 # 27 -117.806743 32.898872 -1049.603882 73962.491264 3 # 28 -117.754362 32.929232 -979.139465 79905.757721 4 # 29 -117.755270 32.930347 -974.900909 80055.757721 3 # 30 -117.807652 32.899987 -1049.173401 85999.024178 4 # # A total of 696 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 85999.024178 #define MISSION_TIME 59264 #define MISSION_TIMEOUT 61742 #define DEPTH_MAX 1041.323465 #define DEPTH_ABORT 1066.323465 #define ALTITUDE_DESIRED 50.000000 #define ALTITUDE_MIN 50.000000 #define ALTITUDE_ABORT 30.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define SPIRAL_DESCENT_DEPTH 999.160797 #define SPIRAL_DESCENT_ALTITUDE 50.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 10 #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 = 1257; 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 30 # Segment length 170.761600 meters # Minimum depth: 1048.150236 meters looking forward 100.000000 meters along route # Maximum depth: 1049.173401 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.150236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899987; longitude = -117.807652; captureRadius = 10; duration = 341; # abortOnTimeout = True; initialDepth = 997.970060; finalDepth = 998.150236; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0231650000001 # Actual altitude: 51.0231650000001 # Commanded vehicle depth: 998.150236 # Seafloor depth: -1049.173401 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 204.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 122.130757 meters # Minimum depth: 1047.970060 meters looking forward 100.000000 meters along route # Maximum depth: 1047.970060 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.970060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900859; longitude = -117.806147; captureRadius = 10; duration = 244; initialDepth = 994.147358; finalDepth = 997.970060; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0231650000001 # Actual altitude: 51.0231650000001 # Commanded vehicle depth: 997.97006 # Seafloor depth: -1047.970060 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 204.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 122.130156 meters # Minimum depth: 1044.147358 meters looking forward 100.000000 meters along route # Maximum depth: 1045.568790 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.147358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901483; longitude = -117.805071; captureRadius = 10; duration = 244; initialDepth = 986.086677; finalDepth = 994.147358; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4214320000001 # Actual altitude: 51.4214320000001 # Commanded vehicle depth: 994.147358 # Seafloor depth: -1045.568790 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 122.129556 meters # Minimum depth: 1036.086677 meters looking forward 100.000000 meters along route # Maximum depth: 1040.263560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.086677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902107; longitude = -117.803994; captureRadius = 10; duration = 244; initialDepth = 985.212504; finalDepth = 986.086677; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1768830000001 # Actual altitude: 54.1768830000001 # Commanded vehicle depth: 986.086677 # Seafloor depth: -1040.263560 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 216.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.67; MB_Bottom_Detect_Filter_Max_Range = 216.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 122.128954 meters # Minimum depth: 1035.212504 meters looking forward 100.000000 meters along route # Maximum depth: 1035.212504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.212504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902730; longitude = -117.802918; captureRadius = 10; duration = 244; initialDepth = 980.136990; finalDepth = 985.212504; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1768830000001 # Actual altitude: 54.1768830000001 # Commanded vehicle depth: 985.212504 # Seafloor depth: -1035.212504 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 216.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.67; MB_Bottom_Detect_Filter_Max_Range = 216.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 122.128354 meters # Minimum depth: 1030.136990 meters looking forward 100.000000 meters along route # Maximum depth: 1031.123049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.136990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903354; longitude = -117.801842; captureRadius = 10; duration = 244; initialDepth = 975.077945; finalDepth = 980.136990; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9860590000001 # Actual altitude: 50.9860590000001 # Commanded vehicle depth: 980.13699 # Seafloor depth: -1031.123049 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 122.127754 meters # Minimum depth: 1025.077945 meters looking forward 100.000000 meters along route # Maximum depth: 1028.556303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.077945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903978; longitude = -117.800765; captureRadius = 10; duration = 244; initialDepth = 966.740579; finalDepth = 975.077945; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4783580000001 # Actual altitude: 53.4783580000001 # Commanded vehicle depth: 975.077945 # Seafloor depth: -1028.556303 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 213.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.39; MB_Bottom_Detect_Filter_Max_Range = 213.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 140.607981 meters # Minimum depth: 1016.740579 meters looking forward 100.000000 meters along route # Maximum depth: 1024.028188 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.740579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904602; longitude = -117.799689; captureRadius = 10; duration = 281; initialDepth = 966.515875; finalDepth = 966.740579; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.287609 # Actual altitude: 57.287609 # Commanded vehicle depth: 966.740579 # Seafloor depth: -1024.028188 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 229.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.92; MB_Bottom_Detect_Filter_Max_Range = 229.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 103.645724 meters # Minimum depth: 1016.515875 meters looking forward 100.000000 meters along route # Maximum depth: 1016.515875 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.515875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905320; longitude = -117.798450; captureRadius = 10; duration = 207; initialDepth = 965.732381; finalDepth = 966.515875; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.287609 # Actual altitude: 57.287609 # Commanded vehicle depth: 966.515875 # Seafloor depth: -1016.515875 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 229.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.92; MB_Bottom_Detect_Filter_Max_Range = 229.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 122.125952 meters # Minimum depth: 1015.732381 meters looking forward 100.000000 meters along route # Maximum depth: 1016.735585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.732381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905850; longitude = -117.797536; captureRadius = 10; duration = 244; initialDepth = 965.756754; finalDepth = 965.732381; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 965.732381 # Seafloor depth: -1015.732381 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 127.291992 meters # Minimum depth: 1015.756754 meters looking forward 100.000000 meters along route # Maximum depth: 1017.635306 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.756754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906473; longitude = -117.796460; captureRadius = 10; duration = 254; initialDepth = 965.766824; finalDepth = 965.756754; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.878552 # Actual altitude: 51.878552 # Commanded vehicle depth: 965.756754 # Seafloor depth: -1017.635306 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 116.958110 meters # Minimum depth: 1015.766824 meters looking forward 100.000000 meters along route # Maximum depth: 1015.766824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.766824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907124; longitude = -117.795338; captureRadius = 10; duration = 233; initialDepth = 965.196735; finalDepth = 965.766824; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.878552 # Actual altitude: 51.878552 # Commanded vehicle depth: 965.766824 # Seafloor depth: -1015.766824 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 122.124151 meters # Minimum depth: 1015.196735 meters looking forward 100.000000 meters along route # Maximum depth: 1015.630599 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.196735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907721; longitude = -117.794308; captureRadius = 10; duration = 244; initialDepth = 958.116177; finalDepth = 965.196735; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.433864 # Actual altitude: 50.433864 # Commanded vehicle depth: 965.196735 # Seafloor depth: -1015.630599 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 122.123550 meters # Minimum depth: 1008.116177 meters looking forward 100.000000 meters along route # Maximum depth: 1014.456113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.116177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908345; longitude = -117.793231; captureRadius = 10; duration = 244; initialDepth = 957.927904; finalDepth = 958.116177; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.339936 # Actual altitude: 56.339936 # Commanded vehicle depth: 958.116177 # Seafloor depth: -1014.456113 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 225.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.54; MB_Bottom_Detect_Filter_Max_Range = 225.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 122.122949 meters # Minimum depth: 1007.927904 meters looking forward 100.000000 meters along route # Maximum depth: 1007.927904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.927904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908969; longitude = -117.792155; captureRadius = 10; duration = 244; initialDepth = 957.516154; finalDepth = 957.927904; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.339936 # Actual altitude: 56.339936 # Commanded vehicle depth: 957.927904 # Seafloor depth: -1007.927904 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 225.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.54; MB_Bottom_Detect_Filter_Max_Range = 225.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 122.122349 meters # Minimum depth: 1007.516154 meters looking forward 100.000000 meters along route # Maximum depth: 1013.717333 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.516154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909592; longitude = -117.791079; captureRadius = 10; duration = 244; initialDepth = 968.214867; finalDepth = 957.516154; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 957.516154 # Seafloor depth: -1007.516154 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 122.121749 meters # Minimum depth: 1018.214867 meters looking forward 100.000000 meters along route # Maximum depth: 1020.427666 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.214867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910216; longitude = -117.790002; captureRadius = 10; duration = 244; initialDepth = 967.636366; finalDepth = 968.214867; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.212799 # Actual altitude: 52.212799 # Commanded vehicle depth: 968.214867 # Seafloor depth: -1020.427666 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 208.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 122.121148 meters # Minimum depth: 1017.636366 meters looking forward 100.000000 meters along route # Maximum depth: 1017.636366 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.636366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910840; longitude = -117.788926; captureRadius = 10; duration = 244; initialDepth = 965.121296; finalDepth = 967.636366; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.212799 # Actual altitude: 52.212799 # Commanded vehicle depth: 967.636366 # Seafloor depth: -1017.636366 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 208.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 122.120549 meters # Minimum depth: 1015.121296 meters looking forward 100.000000 meters along route # Maximum depth: 1015.892266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.121296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911464; longitude = -117.787850; captureRadius = 10; duration = 244; initialDepth = 961.701021; finalDepth = 965.121296; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7709699999999 # Actual altitude: 50.7709699999999 # Commanded vehicle depth: 965.121296 # Seafloor depth: -1015.892266 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 122.119947 meters # Minimum depth: 1011.701021 meters looking forward 100.000000 meters along route # Maximum depth: 1013.431202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.701021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912088; longitude = -117.786773; captureRadius = 10; duration = 244; initialDepth = 960.318952; finalDepth = 961.701021; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.730181 # Actual altitude: 51.730181 # Commanded vehicle depth: 961.701021 # Seafloor depth: -1013.431202 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 141.748816 meters # Minimum depth: 1010.318952 meters looking forward 100.000000 meters along route # Maximum depth: 1011.172090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.318952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912711; longitude = -117.785697; captureRadius = 10; duration = 283; initialDepth = 960.206104; finalDepth = 960.318952; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.730181 # Actual altitude: 51.730181 # Commanded vehicle depth: 960.318952 # Seafloor depth: -1011.172090 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.489279 meters # Minimum depth: 1010.206104 meters looking forward 100.000000 meters along route # Maximum depth: 1010.206104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.206104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913436; longitude = -117.784448; captureRadius = 10; duration = 204; initialDepth = 959.950600; finalDepth = 960.206104; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8531380000001 # Actual altitude: 50.8531380000001 # Commanded vehicle depth: 960.206104 # Seafloor depth: -1010.206104 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 203.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 122.118147 meters # Minimum depth: 1009.950600 meters looking forward 100.000000 meters along route # Maximum depth: 1010.020355 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.950600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913959; longitude = -117.783545; captureRadius = 10; duration = 244; initialDepth = 959.826938; finalDepth = 959.950600; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.069755 # Actual altitude: 50.069755 # Commanded vehicle depth: 959.9506 # Seafloor depth: -1010.020355 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 128.433662 meters # Minimum depth: 1009.826938 meters looking forward 100.000000 meters along route # Maximum depth: 1010.052854 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.826938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914583; longitude = -117.782468; captureRadius = 10; duration = 256; initialDepth = 959.805461; finalDepth = 959.826938; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.225916 # Actual altitude: 50.225916 # Commanded vehicle depth: 959.826938 # Seafloor depth: -1010.052854 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 115.800832 meters # Minimum depth: 1009.805461 meters looking forward 100.000000 meters along route # Maximum depth: 1009.805461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.805461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915239; longitude = -117.781336; captureRadius = 10; duration = 231; initialDepth = 959.556064; finalDepth = 959.805461; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.225916 # Actual altitude: 50.225916 # Commanded vehicle depth: 959.805461 # Seafloor depth: -1009.805461 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 122.116347 meters # Minimum depth: 1009.556064 meters looking forward 100.000000 meters along route # Maximum depth: 1009.698470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.556064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915831; longitude = -117.780316; captureRadius = 10; duration = 244; initialDepth = 959.360535; finalDepth = 959.556064; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1424060000001 # Actual altitude: 50.1424060000001 # Commanded vehicle depth: 959.556064 # Seafloor depth: -1009.698470 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 122.115746 meters # Minimum depth: 1009.360535 meters looking forward 100.000000 meters along route # Maximum depth: 1009.564820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.360535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916454; longitude = -117.779239; captureRadius = 10; duration = 244; initialDepth = 959.656151; finalDepth = 959.360535; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1424060000001 # Actual altitude: 50.1424060000001 # Commanded vehicle depth: 959.360535 # Seafloor depth: -1009.360535 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 122.115146 meters # Minimum depth: 1009.656151 meters looking forward 100.000000 meters along route # Maximum depth: 1009.656151 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.656151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917078; longitude = -117.778163; captureRadius = 10; duration = 244; initialDepth = 960.802027; finalDepth = 959.656151; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 959.656151 # Seafloor depth: -1009.656151 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 122.114546 meters # Minimum depth: 1010.802027 meters looking forward 100.000000 meters along route # Maximum depth: 1011.545831 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.802027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917702; longitude = -117.777087; captureRadius = 10; duration = 244; initialDepth = 962.966995; finalDepth = 960.802027; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 960.802027 # Seafloor depth: -1010.802027 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 122.113946 meters # Minimum depth: 1012.966995 meters looking forward 100.000000 meters along route # Maximum depth: 1015.454378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.966995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918326; longitude = -117.776011; captureRadius = 10; duration = 244; initialDepth = 966.078613; finalDepth = 962.966995; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 962.966995 # Seafloor depth: -1012.966995 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 122.113347 meters # Minimum depth: 1016.078613 meters looking forward 100.000000 meters along route # Maximum depth: 1016.078613 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.078613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918950; longitude = -117.774934; captureRadius = 10; duration = 244; initialDepth = 969.583437; finalDepth = 966.078613; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 966.078613 # Seafloor depth: -1016.078613 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 122.112746 meters # Minimum depth: 1019.583437 meters looking forward 100.000000 meters along route # Maximum depth: 1020.970999 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.583437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919573; longitude = -117.773858; captureRadius = 10; duration = 244; initialDepth = 975.515154; finalDepth = 969.583437; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 969.583437 # Seafloor depth: -1019.583437 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 122.112146 meters # Minimum depth: 1025.515154 meters looking forward 100.000000 meters along route # Maximum depth: 1031.805969 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.515154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920197; longitude = -117.772782; captureRadius = 10; duration = 244; initialDepth = 984.132169; finalDepth = 975.515154; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 975.515154 # Seafloor depth: -1025.515154 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 142.889506 meters # Minimum depth: 1034.132169 meters looking forward 100.000000 meters along route # Maximum depth: 1041.513260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.132169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920821; longitude = -117.771705; captureRadius = 10; duration = 285; initialDepth = 993.302859; finalDepth = 984.132169; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 984.132169 # Seafloor depth: -1034.132169 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 101.332986 meters # Minimum depth: 1043.302859 meters looking forward 100.000000 meters along route # Maximum depth: 1043.302859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.302859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921551; longitude = -117.770446; captureRadius = 10; duration = 202; initialDepth = 1000.133466; finalDepth = 993.302859; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 993.302859 # Seafloor depth: -1043.302859 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 122.110346 meters # Minimum depth: 1050.133466 meters looking forward 100.000000 meters along route # Maximum depth: 1058.895230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.133466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922069; longitude = -117.769553; captureRadius = 10; duration = 244; initialDepth = 1011.297535; finalDepth = 1000.133466; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1000.133466 # Seafloor depth: -1050.133466 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 129.575188 meters # Minimum depth: 1061.297535 meters looking forward 100.000000 meters along route # Maximum depth: 1063.023349 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.297535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922692; longitude = -117.768476; captureRadius = 10; duration = 259; initialDepth = 1010.696033; finalDepth = 1011.297535; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7258140000001 # Actual altitude: 51.7258140000001 # Commanded vehicle depth: 1011.297535 # Seafloor depth: -1063.023349 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 114.643705 meters # Minimum depth: 1060.696033 meters looking forward 100.000000 meters along route # Maximum depth: 1060.696033 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.696033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923354; longitude = -117.767334; captureRadius = 10; duration = 229; initialDepth = 992.391021; finalDepth = 1010.696033; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7258140000001 # Actual altitude: 51.7258140000001 # Commanded vehicle depth: 1010.696033 # Seafloor depth: -1060.696033 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 122.108546 meters # Minimum depth: 1042.391021 meters looking forward 100.000000 meters along route # Maximum depth: 1046.717834 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.391021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923940; longitude = -117.766324; captureRadius = 10; duration = 244; initialDepth = 976.252186; finalDepth = 992.391021; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3268130000001 # Actual altitude: 54.3268130000001 # Commanded vehicle depth: 992.391021 # Seafloor depth: -1046.717834 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 217.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.73; MB_Bottom_Detect_Filter_Max_Range = 217.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 122.107947 meters # Minimum depth: 1026.252186 meters looking forward 100.000000 meters along route # Maximum depth: 1036.699152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.252186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.924564; longitude = -117.765248; captureRadius = 10; duration = 244; initialDepth = 975.784264; finalDepth = 976.252186; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.446966 # Actual altitude: 60.446966 # Commanded vehicle depth: 976.252186 # Seafloor depth: -1036.699152 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 241.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.18; MB_Bottom_Detect_Filter_Max_Range = 241.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 122.107347 meters # Minimum depth: 1025.784264 meters looking forward 100.000000 meters along route # Maximum depth: 1025.784264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.784264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.925188; longitude = -117.764171; captureRadius = 10; duration = 244; initialDepth = 959.862158; finalDepth = 975.784264; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.446966 # Actual altitude: 60.446966 # Commanded vehicle depth: 975.784264 # Seafloor depth: -1025.784264 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 241.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.18; MB_Bottom_Detect_Filter_Max_Range = 241.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 122.106747 meters # Minimum depth: 1009.862158 meters looking forward 100.000000 meters along route # Maximum depth: 1013.910634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.862158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.925811; longitude = -117.763095; captureRadius = 10; duration = 244; initialDepth = 947.805273; finalDepth = 959.862158; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0484759999999 # Actual altitude: 54.0484759999999 # Commanded vehicle depth: 959.862158 # Seafloor depth: -1013.910634 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 216.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 122.106147 meters # Minimum depth: 997.805273 meters looking forward 100.000000 meters along route # Maximum depth: 1004.810211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.805273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.926435; longitude = -117.762019; captureRadius = 10; duration = 244; initialDepth = 946.741578; finalDepth = 947.805273; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.0049379999999 # Actual altitude: 57.0049379999999 # Commanded vehicle depth: 947.805273 # Seafloor depth: -1004.810211 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 228.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.80; MB_Bottom_Detect_Filter_Max_Range = 228.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 122.105548 meters # Minimum depth: 996.741578 meters looking forward 100.000000 meters along route # Maximum depth: 996.741578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.741578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.927059; longitude = -117.760942; captureRadius = 10; duration = 244; initialDepth = 938.468780; finalDepth = 946.741578; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.0049379999999 # Actual altitude: 57.0049379999999 # Commanded vehicle depth: 946.741578 # Seafloor depth: -996.741578 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 228.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.80; MB_Bottom_Detect_Filter_Max_Range = 228.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 122.104948 meters # Minimum depth: 988.468780 meters looking forward 100.000000 meters along route # Maximum depth: 989.060535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.468780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.927683; longitude = -117.759866; captureRadius = 10; duration = 244; initialDepth = 930.976008; finalDepth = 938.468780; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5917549999999 # Actual altitude: 50.5917549999999 # Commanded vehicle depth: 938.46878 # Seafloor depth: -989.060535 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 122.104348 meters # Minimum depth: 980.976008 meters looking forward 100.000000 meters along route # Maximum depth: 985.912921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.976008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.928307; longitude = -117.758790; captureRadius = 10; duration = 244; initialDepth = 923.036674; finalDepth = 930.976008; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.936913 # Actual altitude: 54.936913 # Commanded vehicle depth: 930.976008 # Seafloor depth: -985.912921 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 219.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.97; MB_Bottom_Detect_Filter_Max_Range = 219.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 144.030055 meters # Minimum depth: 973.036674 meters looking forward 100.000000 meters along route # Maximum depth: 979.601184 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.036674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.928931; longitude = -117.757713; captureRadius = 10; duration = 288; initialDepth = 922.838706; finalDepth = 923.036674; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.56451 # Actual altitude: 56.56451 # Commanded vehicle depth: 923.036674 # Seafloor depth: -979.601184 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 226.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.63; MB_Bottom_Detect_Filter_Max_Range = 226.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 133.185105 meters # Minimum depth: 972.838706 meters looking forward 100.000000 meters along route # Maximum depth: 973.693429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.838706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.929666; longitude = -117.756444; captureRadius = 10; duration = 266; initialDepth = 924.900909; finalDepth = 922.838706; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 56.56451 # Actual altitude: 56.56451 # Commanded vehicle depth: 922.838706 # Seafloor depth: -972.838706 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 226.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.63; MB_Bottom_Detect_Filter_Max_Range = 226.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 150.000000 meters # Minimum depth: 974.900909 meters looking forward 100.000000 meters along route # Maximum depth: 978.469120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.900909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.930347; longitude = -117.755270; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 924.628802; finalDepth = 924.900909; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 924.900909 # Seafloor depth: -974.900909 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 136.050329 meters # Minimum depth: 974.628802 meters looking forward 100.000000 meters along route # Maximum depth: 979.139465 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.628802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.929232; longitude = -117.754362; captureRadius = 10; duration = 272; # abortOnTimeout = True; initialDepth = 922.101597; finalDepth = 924.628802; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.510663 # Actual altitude: 54.510663 # Commanded vehicle depth: 924.628802 # Seafloor depth: -979.139465 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 218.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.80; MB_Bottom_Detect_Filter_Max_Range = 218.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 131.832620 meters # Minimum depth: 972.101597 meters looking forward 100.000000 meters along route # Maximum depth: 977.595510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.101597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.928536; longitude = -117.755561; captureRadius = 10; duration = 263; initialDepth = 928.129196; finalDepth = 922.101597; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.510663 # Actual altitude: 54.510663 # Commanded vehicle depth: 922.101597 # Seafloor depth: -972.101597 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 218.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.80; MB_Bottom_Detect_Filter_Max_Range = 218.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 112.376833 meters # Minimum depth: 978.129196 meters looking forward 100.000000 meters along route # Maximum depth: 978.129196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.129196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.927863; longitude = -117.756723; captureRadius = 10; duration = 224; initialDepth = 933.599708; finalDepth = 928.129196; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 928.129196 # Seafloor depth: -978.129196 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.105627 meters # Minimum depth: 983.599708 meters looking forward 100.000000 meters along route # Maximum depth: 985.659869 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.599708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.927289; longitude = -117.757713; captureRadius = 10; duration = 244; initialDepth = 938.314057; finalDepth = 933.599708; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 933.599708 # Seafloor depth: -983.599708 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.106225 meters # Minimum depth: 988.314057 meters looking forward 100.000000 meters along route # Maximum depth: 995.805696 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.314057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.926665; longitude = -117.758790; captureRadius = 10; duration = 244; initialDepth = 946.065226; finalDepth = 938.314057; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 938.314057 # Seafloor depth: -988.314057 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.106826 meters # Minimum depth: 996.065226 meters looking forward 100.000000 meters along route # Maximum depth: 996.065226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.065226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.926041; longitude = -117.759866; captureRadius = 10; duration = 244; initialDepth = 955.157617; finalDepth = 946.065226; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 946.065226 # Seafloor depth: -996.065226 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.107425 meters # Minimum depth: 1005.157617 meters looking forward 100.000000 meters along route # Maximum depth: 1009.177287 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.157617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.925417; longitude = -117.760942; captureRadius = 10; duration = 244; initialDepth = 965.442945; finalDepth = 955.157617; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 955.157617 # Seafloor depth: -1005.157617 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.108025 meters # Minimum depth: 1015.442945 meters looking forward 100.000000 meters along route # Maximum depth: 1024.224663 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.442945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.924794; longitude = -117.762019; captureRadius = 10; duration = 244; initialDepth = 975.841926; finalDepth = 965.442945; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 965.442945 # Seafloor depth: -1015.442945 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.108625 meters # Minimum depth: 1025.841926 meters looking forward 100.000000 meters along route # Maximum depth: 1025.841926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.841926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.924170; longitude = -117.763095; captureRadius = 10; duration = 244; initialDepth = 1000.878766; finalDepth = 975.841926; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 975.841926 # Seafloor depth: -1025.841926 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.109224 meters # Minimum depth: 1050.878766 meters looking forward 100.000000 meters along route # Maximum depth: 1052.390785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.878766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923546; longitude = -117.764171; captureRadius = 10; duration = 244; initialDepth = 998.137630; finalDepth = 1000.878766; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1000.878766 # Seafloor depth: -1050.878766 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.109825 meters # Minimum depth: 1048.137630 meters looking forward 100.000000 meters along route # Maximum depth: 1050.712333 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.137630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922922; longitude = -117.765248; captureRadius = 10; duration = 244; initialDepth = 1001.430255; finalDepth = 998.137630; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 998.13763 # Seafloor depth: -1048.137630 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.110424 meters # Minimum depth: 1051.430255 meters looking forward 100.000000 meters along route # Maximum depth: 1051.430255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.430255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922298; longitude = -117.766324; captureRadius = 10; duration = 244; initialDepth = 1001.904366; finalDepth = 1001.430255; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1001.430255 # Seafloor depth: -1051.430255 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.111024 meters # Minimum depth: 1051.904366 meters looking forward 100.000000 meters along route # Maximum depth: 1052.814591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.904366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921675; longitude = -117.767400; captureRadius = 10; duration = 244; initialDepth = 989.932511; finalDepth = 1001.904366; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9102250000001 # Actual altitude: 50.9102250000001 # Commanded vehicle depth: 1001.904366 # Seafloor depth: -1052.814591 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.111624 meters # Minimum depth: 1039.932511 meters looking forward 100.000000 meters along route # Maximum depth: 1045.035476 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.932511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921051; longitude = -117.768476; captureRadius = 10; duration = 244; initialDepth = 979.474182; finalDepth = 989.932511; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.102965 # Actual altitude: 55.102965 # Commanded vehicle depth: 989.932511 # Seafloor depth: -1045.035476 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 220.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.04; MB_Bottom_Detect_Filter_Max_Range = 220.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 133.000681 meters # Minimum depth: 1029.474182 meters looking forward 100.000000 meters along route # Maximum depth: 1037.631936 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.474182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920427; longitude = -117.769553; captureRadius = 10; duration = 266; initialDepth = 978.740588; finalDepth = 979.474182; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1577540000001 # Actual altitude: 58.1577540000001 # Commanded vehicle depth: 979.474182 # Seafloor depth: -1037.631936 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 232.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.26; MB_Bottom_Detect_Filter_Max_Range = 232.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 111.224366 meters # Minimum depth: 1028.740588 meters looking forward 100.000000 meters along route # Maximum depth: 1028.740588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.740588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919748; longitude = -117.770725; captureRadius = 10; duration = 222; initialDepth = 967.846852; finalDepth = 978.740588; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1577540000001 # Actual altitude: 58.1577540000001 # Commanded vehicle depth: 978.740588 # Seafloor depth: -1028.740588 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 232.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.26; MB_Bottom_Detect_Filter_Max_Range = 232.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.113424 meters # Minimum depth: 1017.846852 meters looking forward 100.000000 meters along route # Maximum depth: 1021.327631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.846852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919179; longitude = -117.771705; captureRadius = 10; duration = 244; initialDepth = 961.720826; finalDepth = 967.846852; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.480779 # Actual altitude: 53.480779 # Commanded vehicle depth: 967.846852 # Seafloor depth: -1021.327631 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 213.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.39; MB_Bottom_Detect_Filter_Max_Range = 213.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.114024 meters # Minimum depth: 1011.720826 meters looking forward 100.000000 meters along route # Maximum depth: 1015.722551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.720826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918556; longitude = -117.772782; captureRadius = 10; duration = 244; initialDepth = 961.651057; finalDepth = 961.720826; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.001725 # Actual altitude: 54.001725 # Commanded vehicle depth: 961.720826 # Seafloor depth: -1015.722551 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 216.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.60; MB_Bottom_Detect_Filter_Max_Range = 216.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.114623 meters # Minimum depth: 1011.651057 meters looking forward 100.000000 meters along route # Maximum depth: 1011.651057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.651057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917932; longitude = -117.773858; captureRadius = 10; duration = 244; initialDepth = 959.563928; finalDepth = 961.651057; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.001725 # Actual altitude: 54.001725 # Commanded vehicle depth: 961.651057 # Seafloor depth: -1011.651057 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 216.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.60; MB_Bottom_Detect_Filter_Max_Range = 216.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.115224 meters # Minimum depth: 1009.563928 meters looking forward 100.000000 meters along route # Maximum depth: 1010.317225 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.563928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917308; longitude = -117.774934; captureRadius = 10; duration = 244; initialDepth = 958.045338; finalDepth = 959.563928; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.753297 # Actual altitude: 50.753297 # Commanded vehicle depth: 959.563928 # Seafloor depth: -1010.317225 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 203.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.115824 meters # Minimum depth: 1008.045338 meters looking forward 100.000000 meters along route # Maximum depth: 1008.796591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.045338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916684; longitude = -117.776011; captureRadius = 10; duration = 244; initialDepth = 958.078777; finalDepth = 958.045338; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.753297 # Actual altitude: 50.753297 # Commanded vehicle depth: 958.045338 # Seafloor depth: -1008.796591 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 203.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.116424 meters # Minimum depth: 1008.078777 meters looking forward 100.000000 meters along route # Maximum depth: 1008.078777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.078777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916060; longitude = -117.777087; captureRadius = 10; duration = 244; initialDepth = 957.425994; finalDepth = 958.078777; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.751253 # Actual altitude: 50.751253 # Commanded vehicle depth: 958.078777 # Seafloor depth: -1008.078777 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 203.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.117023 meters # Minimum depth: 1007.425994 meters looking forward 100.000000 meters along route # Maximum depth: 1007.716835 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.425994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915436; longitude = -117.778163; captureRadius = 10; duration = 244; initialDepth = 958.411382; finalDepth = 957.425994; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 957.425994 # Seafloor depth: -1007.425994 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.117624 meters # Minimum depth: 1008.411382 meters looking forward 100.000000 meters along route # Maximum depth: 1008.529671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.411382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914813; longitude = -117.779239; captureRadius = 10; duration = 244; initialDepth = 958.654555; finalDepth = 958.411382; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 958.411382 # Seafloor depth: -1008.411382 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.118225 meters # Minimum depth: 1008.654555 meters looking forward 100.000000 meters along route # Maximum depth: 1008.654555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.654555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914189; longitude = -117.780316; captureRadius = 10; duration = 244; initialDepth = 958.964917; finalDepth = 958.654555; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 958.654555 # Seafloor depth: -1008.654555 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.118824 meters # Minimum depth: 1008.964917 meters looking forward 100.000000 meters along route # Maximum depth: 1009.111576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.964917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913565; longitude = -117.781392; captureRadius = 10; duration = 244; initialDepth = 960.461171; finalDepth = 958.964917; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 958.964917 # Seafloor depth: -1008.964917 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.119424 meters # Minimum depth: 1010.461171 meters looking forward 100.000000 meters along route # Maximum depth: 1011.321562 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.461171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912941; longitude = -117.782468; captureRadius = 10; duration = 244; initialDepth = 961.709957; finalDepth = 960.461171; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 960.461171 # Seafloor depth: -1010.461171 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 134.168895 meters # Minimum depth: 1011.709957 meters looking forward 100.000000 meters along route # Maximum depth: 1013.036015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.709957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912317; longitude = -117.783545; captureRadius = 10; duration = 268; initialDepth = 963.231397; finalDepth = 961.709957; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 961.709957 # Seafloor depth: -1011.709957 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 110.071755 meters # Minimum depth: 1013.231397 meters looking forward 100.000000 meters along route # Maximum depth: 1013.231397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.231397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911632; longitude = -117.784727; captureRadius = 10; duration = 220; initialDepth = 965.740313; finalDepth = 963.231397; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 963.231397 # Seafloor depth: -1013.231397 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.121225 meters # Minimum depth: 1015.740313 meters looking forward 100.000000 meters along route # Maximum depth: 1016.829992 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.740313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911070; longitude = -117.785697; captureRadius = 10; duration = 244; initialDepth = 967.720413; finalDepth = 965.740313; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 965.740313 # Seafloor depth: -1015.740313 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.121826 meters # Minimum depth: 1017.720413 meters looking forward 100.000000 meters along route # Maximum depth: 1020.087061 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.720413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910446; longitude = -117.786773; captureRadius = 10; duration = 244; initialDepth = 970.106289; finalDepth = 967.720413; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 967.720413 # Seafloor depth: -1017.720413 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.122426 meters # Minimum depth: 1020.106289 meters looking forward 100.000000 meters along route # Maximum depth: 1020.106289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.106289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909822; longitude = -117.787850; captureRadius = 10; duration = 244; initialDepth = 972.979098; finalDepth = 970.106289; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 970.106289 # Seafloor depth: -1020.106289 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.123026 meters # Minimum depth: 1022.979098 meters looking forward 100.000000 meters along route # Maximum depth: 1023.456990 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.979098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909198; longitude = -117.788926; captureRadius = 10; duration = 244; initialDepth = 968.091778; finalDepth = 972.979098; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 972.979098 # Seafloor depth: -1022.979098 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.123626 meters # Minimum depth: 1018.091778 meters looking forward 100.000000 meters along route # Maximum depth: 1021.839197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.091778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908575; longitude = -117.790002; captureRadius = 10; duration = 244; initialDepth = 968.105238; finalDepth = 968.091778; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.747419 # Actual altitude: 53.747419 # Commanded vehicle depth: 968.091778 # Seafloor depth: -1021.839197 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 214.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.50; MB_Bottom_Detect_Filter_Max_Range = 214.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.124227 meters # Minimum depth: 1018.105238 meters looking forward 100.000000 meters along route # Maximum depth: 1018.105238 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.105238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907951; longitude = -117.791079; captureRadius = 10; duration = 244; initialDepth = 966.813224; finalDepth = 968.105238; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.747419 # Actual altitude: 53.747419 # Commanded vehicle depth: 968.105238 # Seafloor depth: -1018.105238 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 214.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.50; MB_Bottom_Detect_Filter_Max_Range = 214.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.124827 meters # Minimum depth: 1016.813224 meters looking forward 100.000000 meters along route # Maximum depth: 1017.932564 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.813224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907327; longitude = -117.792155; captureRadius = 10; duration = 244; initialDepth = 968.519074; finalDepth = 966.813224; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 966.813224 # Seafloor depth: -1016.813224 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.125428 meters # Minimum depth: 1018.519074 meters looking forward 100.000000 meters along route # Maximum depth: 1020.848362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.519074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906703; longitude = -117.793231; captureRadius = 10; duration = 244; initialDepth = 971.197152; finalDepth = 968.519074; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 968.519074 # Seafloor depth: -1018.519074 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.126028 meters # Minimum depth: 1021.197152 meters looking forward 100.000000 meters along route # Maximum depth: 1021.197152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.197152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906079; longitude = -117.794308; captureRadius = 10; duration = 244; initialDepth = 973.175584; finalDepth = 971.197152; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 971.197152 # Seafloor depth: -1021.197152 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.126628 meters # Minimum depth: 1023.175584 meters looking forward 100.000000 meters along route # Maximum depth: 1023.421885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.175584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905456; longitude = -117.795384; captureRadius = 10; duration = 244; initialDepth = 971.813764; finalDepth = 973.175584; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.246301 # Actual altitude: 50.246301 # Commanded vehicle depth: 973.175584 # Seafloor depth: -1023.421885 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 200.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.127229 meters # Minimum depth: 1021.813764 meters looking forward 100.000000 meters along route # Maximum depth: 1023.048791 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.813764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904832; longitude = -117.796460; captureRadius = 10; duration = 244; initialDepth = 974.445307; finalDepth = 971.813764; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.246301 # Actual altitude: 50.246301 # Commanded vehicle depth: 971.813764 # Seafloor depth: -1021.813764 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 200.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 135.337261 meters # Minimum depth: 1024.445307 meters looking forward 100.000000 meters along route # Maximum depth: 1030.191864 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.445307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904208; longitude = -117.797536; captureRadius = 10; duration = 270; initialDepth = 980.542314; finalDepth = 974.445307; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 974.445307 # Seafloor depth: -1024.445307 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 108.918998 meters # Minimum depth: 1030.542314 meters looking forward 100.000000 meters along route # Maximum depth: 1030.542314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.542314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903517; longitude = -117.798729; captureRadius = 10; duration = 217; initialDepth = 981.330799; finalDepth = 980.542314; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 980.542314 # Seafloor depth: -1030.542314 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.129031 meters # Minimum depth: 1031.330799 meters looking forward 100.000000 meters along route # Maximum depth: 1032.883549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.330799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902960; longitude = -117.799689; captureRadius = 10; duration = 244; initialDepth = 984.598336; finalDepth = 981.330799; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 981.330799 # Seafloor depth: -1031.330799 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.129631 meters # Minimum depth: 1034.598336 meters looking forward 100.000000 meters along route # Maximum depth: 1040.413725 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.598336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902337; longitude = -117.800765; captureRadius = 10; duration = 244; initialDepth = 990.419921; finalDepth = 984.598336; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 984.598336 # Seafloor depth: -1034.598336 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.130232 meters # Minimum depth: 1040.419921 meters looking forward 100.000000 meters along route # Maximum depth: 1040.419921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.419921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901713; longitude = -117.801842; captureRadius = 10; duration = 244; initialDepth = 996.351053; finalDepth = 990.419921; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 990.419921 # Seafloor depth: -1040.419921 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.130832 meters # Minimum depth: 1046.351053 meters looking forward 100.000000 meters along route # Maximum depth: 1047.166687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.351053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901089; longitude = -117.802918; captureRadius = 10; duration = 244; initialDepth = 997.014870; finalDepth = 996.351053; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 996.351053 # Seafloor depth: -1046.351053 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 122.131433 meters # Minimum depth: 1047.014870 meters looking forward 100.000000 meters along route # Maximum depth: 1048.566510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.014870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900465; longitude = -117.803994; captureRadius = 10; duration = 244; initialDepth = 998.695770; finalDepth = 997.014870; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 997.01487 # Seafloor depth: -1047.014870 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 189.791527 meters # Minimum depth: 1048.695770 meters looking forward 100.000000 meters along route # Maximum depth: 1049.892312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.695770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899841; longitude = -117.805071; captureRadius = 10; duration = 379; initialDepth = 999.603882; finalDepth = 998.695770; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 998.69577 # Seafloor depth: -1048.695770 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 150.000000 meters # Minimum depth: 1049.603882 meters looking forward 100.000000 meters along route # Maximum depth: 1050.082264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.603882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898872; longitude = -117.806743; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 1000.396454; finalDepth = 999.603882; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 999.603882 # Seafloor depth: -1049.603882 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 86.691572 meters # Minimum depth: 1050.396454 meters looking forward 100.000000 meters along route # Maximum depth: 1050.643378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.396454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897757; longitude = -117.805835; captureRadius = 10; duration = 173; # abortOnTimeout = True; initialDepth = 1000.691902; finalDepth = 1000.396454; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1000.396454 # Seafloor depth: -1050.396454 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 122.132710 meters # Minimum depth: 1050.691902 meters looking forward 100.000000 meters along route # Maximum depth: 1050.691902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.691902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898200; longitude = -117.805071; captureRadius = 10; duration = 244; initialDepth = 1000.269684; finalDepth = 1000.691902; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1000.691902 # Seafloor depth: -1050.691902 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.132109 meters # Minimum depth: 1050.269684 meters looking forward 100.000000 meters along route # Maximum depth: 1050.344531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.269684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898824; longitude = -117.803994; captureRadius = 10; duration = 244; initialDepth = 999.706567; finalDepth = 1000.269684; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0748469999999 # Actual altitude: 50.0748469999999 # Commanded vehicle depth: 1000.269684 # Seafloor depth: -1050.344531 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.131509 meters # Minimum depth: 1049.706567 meters looking forward 100.000000 meters along route # Maximum depth: 1050.226644 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.706567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899447; longitude = -117.802918; captureRadius = 10; duration = 244; initialDepth = 1000.165184; finalDepth = 999.706567; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0748469999999 # Actual altitude: 50.0748469999999 # Commanded vehicle depth: 999.706567 # Seafloor depth: -1049.706567 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.130908 meters # Minimum depth: 1050.165184 meters looking forward 100.000000 meters along route # Maximum depth: 1050.165184 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.165184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900071; longitude = -117.801842; captureRadius = 10; duration = 244; initialDepth = 994.959656; finalDepth = 1000.165184; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1000.165184 # Seafloor depth: -1050.165184 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.130308 meters # Minimum depth: 1044.959656 meters looking forward 100.000000 meters along route # Maximum depth: 1045.905779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.959656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900695; longitude = -117.800765; captureRadius = 10; duration = 244; initialDepth = 986.628620; finalDepth = 994.959656; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9461229999999 # Actual altitude: 50.9461229999999 # Commanded vehicle depth: 994.959656 # Seafloor depth: -1045.905779 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.129707 meters # Minimum depth: 1036.628620 meters looking forward 100.000000 meters along route # Maximum depth: 1040.209637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.628620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901319; longitude = -117.799689; captureRadius = 10; duration = 244; initialDepth = 982.076589; finalDepth = 986.628620; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.581017 # Actual altitude: 53.581017 # Commanded vehicle depth: 986.62862 # Seafloor depth: -1040.209637 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 214.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.43; MB_Bottom_Detect_Filter_Max_Range = 214.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 131.635525 meters # Minimum depth: 1032.076589 meters looking forward 100.000000 meters along route # Maximum depth: 1035.008753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.076589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901943; longitude = -117.798613; captureRadius = 10; duration = 263; initialDepth = 981.764908; finalDepth = 982.076589; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.581017 # Actual altitude: 53.581017 # Commanded vehicle depth: 982.076589 # Seafloor depth: -1035.008753 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 214.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.43; MB_Bottom_Detect_Filter_Max_Range = 214.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 112.622087 meters # Minimum depth: 1031.764908 meters looking forward 100.000000 meters along route # Maximum depth: 1031.764908 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.764908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902615; longitude = -117.797453; captureRadius = 10; duration = 225; initialDepth = 976.706359; finalDepth = 981.764908; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9321640000001 # Actual altitude: 52.9321640000001 # Commanded vehicle depth: 981.764908 # Seafloor depth: -1031.764908 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 211.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.17; MB_Bottom_Detect_Filter_Max_Range = 211.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.127906 meters # Minimum depth: 1026.706359 meters looking forward 100.000000 meters along route # Maximum depth: 1028.314390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.706359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903190; longitude = -117.796460; captureRadius = 10; duration = 244; initialDepth = 975.482634; finalDepth = 976.706359; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.608031 # Actual altitude: 51.608031 # Commanded vehicle depth: 976.706359 # Seafloor depth: -1028.314390 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.127305 meters # Minimum depth: 1025.482634 meters looking forward 100.000000 meters along route # Maximum depth: 1026.442905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.482634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903814; longitude = -117.795384; captureRadius = 10; duration = 244; initialDepth = 976.441325; finalDepth = 975.482634; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.608031 # Actual altitude: 51.608031 # Commanded vehicle depth: 975.482634 # Seafloor depth: -1025.482634 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.126705 meters # Minimum depth: 1026.441325 meters looking forward 100.000000 meters along route # Maximum depth: 1026.441325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.441325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904438; longitude = -117.794308; captureRadius = 10; duration = 244; initialDepth = 975.607692; finalDepth = 976.441325; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 976.441325 # Seafloor depth: -1026.441325 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.126104 meters # Minimum depth: 1025.607692 meters looking forward 100.000000 meters along route # Maximum depth: 1026.077101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.607692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905062; longitude = -117.793231; captureRadius = 10; duration = 244; initialDepth = 973.764676; finalDepth = 975.607692; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.469409 # Actual altitude: 50.469409 # Commanded vehicle depth: 975.607692 # Seafloor depth: -1026.077101 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.125504 meters # Minimum depth: 1023.764676 meters looking forward 100.000000 meters along route # Maximum depth: 1025.220523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.764676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905685; longitude = -117.792155; captureRadius = 10; duration = 244; initialDepth = 973.340017; finalDepth = 973.764676; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4558469999999 # Actual altitude: 51.4558469999999 # Commanded vehicle depth: 973.764676 # Seafloor depth: -1025.220523 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.124904 meters # Minimum depth: 1023.340017 meters looking forward 100.000000 meters along route # Maximum depth: 1023.340017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.340017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906309; longitude = -117.791079; captureRadius = 10; duration = 244; initialDepth = 973.223227; finalDepth = 973.340017; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4558469999999 # Actual altitude: 51.4558469999999 # Commanded vehicle depth: 973.340017 # Seafloor depth: -1023.340017 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.124303 meters # Minimum depth: 1023.223227 meters looking forward 100.000000 meters along route # Maximum depth: 1023.749904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.223227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906933; longitude = -117.790002; captureRadius = 10; duration = 244; initialDepth = 972.872636; finalDepth = 973.223227; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 973.223227 # Seafloor depth: -1023.223227 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.123703 meters # Minimum depth: 1022.872636 meters looking forward 100.000000 meters along route # Maximum depth: 1023.860627 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.872636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907557; longitude = -117.788926; captureRadius = 10; duration = 244; initialDepth = 972.329905; finalDepth = 972.872636; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.987991 # Actual altitude: 50.987991 # Commanded vehicle depth: 972.872636 # Seafloor depth: -1023.860627 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 203.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.123103 meters # Minimum depth: 1022.329905 meters looking forward 100.000000 meters along route # Maximum depth: 1022.329905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.329905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908181; longitude = -117.787850; captureRadius = 10; duration = 244; initialDepth = 971.876135; finalDepth = 972.329905; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.987991 # Actual altitude: 50.987991 # Commanded vehicle depth: 972.329905 # Seafloor depth: -1022.329905 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 203.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.122502 meters # Minimum depth: 1021.876135 meters looking forward 100.000000 meters along route # Maximum depth: 1022.052201 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.876135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908804; longitude = -117.786773; captureRadius = 10; duration = 244; initialDepth = 968.332409; finalDepth = 971.876135; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 971.876135 # Seafloor depth: -1021.876135 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.121903 meters # Minimum depth: 1018.332409 meters looking forward 100.000000 meters along route # Maximum depth: 1020.596800 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.332409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909428; longitude = -117.785697; captureRadius = 10; duration = 244; initialDepth = 964.423573; finalDepth = 968.332409; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.264391 # Actual altitude: 52.264391 # Commanded vehicle depth: 968.332409 # Seafloor depth: -1020.596800 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 209.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 132.796718 meters # Minimum depth: 1014.423573 meters looking forward 100.000000 meters along route # Maximum depth: 1017.353056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.423573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910052; longitude = -117.784621; captureRadius = 10; duration = 265; initialDepth = 964.190115; finalDepth = 964.423573; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.929483 # Actual altitude: 52.929483 # Commanded vehicle depth: 964.423573 # Seafloor depth: -1017.353056 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 211.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.17; MB_Bottom_Detect_Filter_Max_Range = 211.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 111.445286 meters # Minimum depth: 1014.190115 meters looking forward 100.000000 meters along route # Maximum depth: 1014.190115 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.190115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910730; longitude = -117.783451; captureRadius = 10; duration = 222; initialDepth = 962.053042; finalDepth = 964.190115; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.929483 # Actual altitude: 52.929483 # Commanded vehicle depth: 964.190115 # Seafloor depth: -1014.190115 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 211.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.17; MB_Bottom_Detect_Filter_Max_Range = 211.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.120101 meters # Minimum depth: 1012.053042 meters looking forward 100.000000 meters along route # Maximum depth: 1012.753102 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.053042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911300; longitude = -117.782468; captureRadius = 10; duration = 244; initialDepth = 959.760779; finalDepth = 962.053042; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.70006 # Actual altitude: 50.70006 # Commanded vehicle depth: 962.053042 # Seafloor depth: -1012.753102 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.119502 meters # Minimum depth: 1009.760779 meters looking forward 100.000000 meters along route # Maximum depth: 1011.411006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.760779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911923; longitude = -117.781392; captureRadius = 10; duration = 244; initialDepth = 959.724111; finalDepth = 959.760779; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6502270000001 # Actual altitude: 51.6502270000001 # Commanded vehicle depth: 959.760779 # Seafloor depth: -1011.411006 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.118902 meters # Minimum depth: 1009.724111 meters looking forward 100.000000 meters along route # Maximum depth: 1009.724111 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.724111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912547; longitude = -117.780316; captureRadius = 10; duration = 244; initialDepth = 958.147868; finalDepth = 959.724111; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6502270000001 # Actual altitude: 51.6502270000001 # Commanded vehicle depth: 959.724111 # Seafloor depth: -1009.724111 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.118301 meters # Minimum depth: 1008.147868 meters looking forward 100.000000 meters along route # Maximum depth: 1008.427802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.147868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913171; longitude = -117.779239; captureRadius = 10; duration = 244; initialDepth = 957.137134; finalDepth = 958.147868; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.279934 # Actual altitude: 50.279934 # Commanded vehicle depth: 958.147868 # Seafloor depth: -1008.427802 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.11; MB_Bottom_Detect_Filter_Max_Range = 201.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.117701 meters # Minimum depth: 1007.137134 meters looking forward 100.000000 meters along route # Maximum depth: 1007.724899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.137134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913795; longitude = -117.778163; captureRadius = 10; duration = 244; initialDepth = 957.205600; finalDepth = 957.137134; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5877650000001 # Actual altitude: 50.5877650000001 # Commanded vehicle depth: 957.137134 # Seafloor depth: -1007.724899 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.117102 meters # Minimum depth: 1007.205600 meters looking forward 100.000000 meters along route # Maximum depth: 1007.205600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.205600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914419; longitude = -117.777087; captureRadius = 10; duration = 244; initialDepth = 957.335436; finalDepth = 957.205600; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5877650000001 # Actual altitude: 50.5877650000001 # Commanded vehicle depth: 957.2056 # Seafloor depth: -1007.205600 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.116501 meters # Minimum depth: 1007.335436 meters looking forward 100.000000 meters along route # Maximum depth: 1007.566402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.335436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915042; longitude = -117.776011; captureRadius = 10; duration = 244; initialDepth = 958.296918; finalDepth = 957.335436; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 957.335436 # Seafloor depth: -1007.335436 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.115901 meters # Minimum depth: 1008.296918 meters looking forward 100.000000 meters along route # Maximum depth: 1008.833369 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.296918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915666; longitude = -117.774934; captureRadius = 10; duration = 244; initialDepth = 959.069587; finalDepth = 958.296918; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 958.296918 # Seafloor depth: -1008.296918 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.115301 meters # Minimum depth: 1009.069587 meters looking forward 100.000000 meters along route # Maximum depth: 1009.069587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.069587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916290; longitude = -117.773858; captureRadius = 10; duration = 244; initialDepth = 961.014712; finalDepth = 959.069587; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 959.069587 # Seafloor depth: -1009.069587 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.114702 meters # Minimum depth: 1011.014712 meters looking forward 100.000000 meters along route # Maximum depth: 1011.528643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.014712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916914; longitude = -117.772782; captureRadius = 10; duration = 244; initialDepth = 964.354277; finalDepth = 961.014712; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 961.014712 # Seafloor depth: -1011.014712 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.114101 meters # Minimum depth: 1014.354277 meters looking forward 100.000000 meters along route # Maximum depth: 1017.128243 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.354277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917538; longitude = -117.771705; captureRadius = 10; duration = 244; initialDepth = 969.408731; finalDepth = 964.354277; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 964.354277 # Seafloor depth: -1014.354277 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 133.957766 meters # Minimum depth: 1019.408731 meters looking forward 100.000000 meters along route # Maximum depth: 1019.511239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.408731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918161; longitude = -117.770629; captureRadius = 10; duration = 267; initialDepth = 970.025589; finalDepth = 969.408731; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 969.408731 # Seafloor depth: -1019.408731 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 110.268637 meters # Minimum depth: 1020.025589 meters looking forward 100.000000 meters along route # Maximum depth: 1020.025589 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.025589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918846; longitude = -117.769448; captureRadius = 10; duration = 220; initialDepth = 977.310263; finalDepth = 970.025589; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 970.025589 # Seafloor depth: -1020.025589 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.112302 meters # Minimum depth: 1027.310263 meters looking forward 100.000000 meters along route # Maximum depth: 1032.520925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.310263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919409; longitude = -117.768476; captureRadius = 10; duration = 244; initialDepth = 987.264108; finalDepth = 977.310263; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 977.310263 # Seafloor depth: -1027.310263 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.111702 meters # Minimum depth: 1037.264108 meters looking forward 100.000000 meters along route # Maximum depth: 1051.803628 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.264108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920033; longitude = -117.767400; captureRadius = 10; duration = 244; initialDepth = 1001.920323; finalDepth = 987.264108; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 987.264108 # Seafloor depth: -1037.264108 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.111102 meters # Minimum depth: 1051.920323 meters looking forward 100.000000 meters along route # Maximum depth: 1051.920323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.920323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920657; longitude = -117.766324; captureRadius = 10; duration = 244; initialDepth = 1006.412374; finalDepth = 1001.920323; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1001.920323 # Seafloor depth: -1051.920323 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.110502 meters # Minimum depth: 1056.412374 meters looking forward 100.000000 meters along route # Maximum depth: 1058.795247 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.412374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921281; longitude = -117.765248; captureRadius = 10; duration = 244; initialDepth = 998.852076; finalDepth = 1006.412374; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1006.412374 # Seafloor depth: -1056.412374 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.109903 meters # Minimum depth: 1048.852076 meters looking forward 100.000000 meters along route # Maximum depth: 1057.867677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.852076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921904; longitude = -117.764171; captureRadius = 10; duration = 244; initialDepth = 997.092871; finalDepth = 998.852076; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.0156010000001 # Actual altitude: 59.0156010000001 # Commanded vehicle depth: 998.852076 # Seafloor depth: -1057.867677 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 236.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.61; MB_Bottom_Detect_Filter_Max_Range = 236.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.109303 meters # Minimum depth: 1047.092871 meters looking forward 100.000000 meters along route # Maximum depth: 1047.092871 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.092871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922528; longitude = -117.763095; captureRadius = 10; duration = 244; initialDepth = 972.387111; finalDepth = 997.092871; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.0156010000001 # Actual altitude: 59.0156010000001 # Commanded vehicle depth: 997.092871 # Seafloor depth: -1047.092871 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 236.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.61; MB_Bottom_Detect_Filter_Max_Range = 236.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.108703 meters # Minimum depth: 1022.387111 meters looking forward 100.000000 meters along route # Maximum depth: 1025.778292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.387111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923152; longitude = -117.762019; captureRadius = 10; duration = 244; initialDepth = 958.328906; finalDepth = 972.387111; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.391181 # Actual altitude: 53.391181 # Commanded vehicle depth: 972.387111 # Seafloor depth: -1025.778292 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 213.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.36; MB_Bottom_Detect_Filter_Max_Range = 213.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.108103 meters # Minimum depth: 1008.328906 meters looking forward 100.000000 meters along route # Maximum depth: 1015.140600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.328906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923776; longitude = -117.760942; captureRadius = 10; duration = 244; initialDepth = 956.206393; finalDepth = 958.328906; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.811694 # Actual altitude: 56.811694 # Commanded vehicle depth: 958.328906 # Seafloor depth: -1015.140600 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 227.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.72; MB_Bottom_Detect_Filter_Max_Range = 227.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.107504 meters # Minimum depth: 1006.206393 meters looking forward 100.000000 meters along route # Maximum depth: 1006.206393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.206393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.924400; longitude = -117.759866; captureRadius = 10; duration = 244; initialDepth = 945.839813; finalDepth = 956.206393; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.811694 # Actual altitude: 56.811694 # Commanded vehicle depth: 956.206393 # Seafloor depth: -1006.206393 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 227.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.72; MB_Bottom_Detect_Filter_Max_Range = 227.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.106904 meters # Minimum depth: 995.839813 meters looking forward 100.000000 meters along route # Maximum depth: 997.341053 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.839813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.925023; longitude = -117.758790; captureRadius = 10; duration = 244; initialDepth = 938.152852; finalDepth = 945.839813; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5012399999999 # Actual altitude: 51.5012399999999 # Commanded vehicle depth: 945.839813 # Seafloor depth: -997.341053 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 206.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 122.106304 meters # Minimum depth: 988.152852 meters looking forward 100.000000 meters along route # Maximum depth: 991.068230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.152852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.925647; longitude = -117.757713; captureRadius = 10; duration = 244; initialDepth = 928.525439; finalDepth = 938.152852; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9153779999999 # Actual altitude: 52.9153779999999 # Commanded vehicle depth: 938.152852 # Seafloor depth: -991.068230 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 211.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.17; MB_Bottom_Detect_Filter_Max_Range = 211.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 135.118669 meters # Minimum depth: 978.525439 meters looking forward 100.000000 meters along route # Maximum depth: 986.195967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.525439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.926271; longitude = -117.756637; captureRadius = 10; duration = 270; initialDepth = 928.632859; finalDepth = 928.525439; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.670528 # Actual altitude: 57.670528 # Commanded vehicle depth: 928.525439 # Seafloor depth: -986.195967 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 230.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.07; MB_Bottom_Detect_Filter_Max_Range = 230.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 109.092141 meters # Minimum depth: 978.632859 meters looking forward 100.000000 meters along route # Maximum depth: 978.632859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.632859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.926961; longitude = -117.755446; captureRadius = 10; duration = 218; initialDepth = 930.078769; finalDepth = 928.632859; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.670528 # Actual altitude: 57.670528 # Commanded vehicle depth: 928.632859 # Seafloor depth: -978.632859 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 230.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.07; MB_Bottom_Detect_Filter_Max_Range = 230.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 116.986417 meters # Minimum depth: 980.078769 meters looking forward 100.000000 meters along route # Maximum depth: 983.758884 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.078769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.927519; longitude = -117.754485; captureRadius = 10; duration = 233; initialDepth = 929.397125; finalDepth = 930.078769; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.680115 # Actual altitude: 53.680115 # Commanded vehicle depth: 930.078769 # Seafloor depth: -983.758884 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 214.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.47; MB_Bottom_Detect_Filter_Max_Range = 214.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 150.000000 meters # Minimum depth: 979.397125 meters looking forward 100.000000 meters along route # Maximum depth: 979.397125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.397125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.928116; longitude = -117.753453; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 926.915075; finalDepth = 929.397125; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 53.680115 # Actual altitude: 53.680115 # Commanded vehicle depth: 929.397125 # Seafloor depth: -979.397125 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 214.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.47; MB_Bottom_Detect_Filter_Max_Range = 214.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 97.919674 meters # Minimum depth: 976.915075 meters looking forward 100.000000 meters along route # Maximum depth: 978.911469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.915075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.927001; longitude = -117.752545; captureRadius = 10; duration = 195; # abortOnTimeout = True; initialDepth = 932.770438; finalDepth = 926.915075; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.996394 # Actual altitude: 51.996394 # Commanded vehicle depth: 926.915075 # Seafloor depth: -978.911469 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 207.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 122.105784 meters # Minimum depth: 982.770438 meters looking forward 100.000000 meters along route # Maximum depth: 984.082429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.770438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.926501; longitude = -117.753408; captureRadius = 10; duration = 244; initialDepth = 934.447593; finalDepth = 932.770438; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.996394 # Actual altitude: 51.996394 # Commanded vehicle depth: 932.770438 # Seafloor depth: -982.770438 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 207.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 140.753200 meters # Minimum depth: 984.447593 meters looking forward 100.000000 meters along route # Maximum depth: 991.087172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.447593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.925877; longitude = -117.754485; captureRadius = 10; duration = 281; initialDepth = 941.609722; finalDepth = 934.447593; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 934.447593 # Seafloor depth: -984.447593 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 103.460166 meters # Minimum depth: 991.609722 meters looking forward 100.000000 meters along route # Maximum depth: 991.609722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.609722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.925158; longitude = -117.755725; captureRadius = 10; duration = 206; initialDepth = 943.900204; finalDepth = 941.609722; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 941.609722 # Seafloor depth: -991.609722 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 122.107582 meters # Minimum depth: 993.900204 meters looking forward 100.000000 meters along route # Maximum depth: 996.321879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.900204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.924629; longitude = -117.756637; captureRadius = 10; duration = 244; initialDepth = 947.873514; finalDepth = 943.900204; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 943.900204 # Seafloor depth: -993.900204 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 127.449739 meters # Minimum depth: 997.873514 meters looking forward 100.000000 meters along route # Maximum depth: 1006.120612 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.873514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.924005; longitude = -117.757713; captureRadius = 10; duration = 254; initialDepth = 956.479518; finalDepth = 947.873514; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 947.873514 # Seafloor depth: -997.873514 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 116.767225 meters # Minimum depth: 1006.479518 meters looking forward 100.000000 meters along route # Maximum depth: 1006.479518 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.479518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923354; longitude = -117.758837; captureRadius = 10; duration = 233; initialDepth = 963.712472; finalDepth = 956.479518; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 956.479518 # Seafloor depth: -1006.479518 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 122.109381 meters # Minimum depth: 1013.712472 meters looking forward 100.000000 meters along route # Maximum depth: 1019.126926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.712472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922758; longitude = -117.759866; captureRadius = 10; duration = 244; initialDepth = 977.283875; finalDepth = 963.712472; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 963.712472 # Seafloor depth: -1013.712472 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 122.109981 meters # Minimum depth: 1027.283875 meters looking forward 100.000000 meters along route # Maximum depth: 1034.809198 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.283875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922134; longitude = -117.760942; captureRadius = 10; duration = 244; initialDepth = 985.295586; finalDepth = 977.283875; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 977.283875 # Seafloor depth: -1027.283875 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 122.110581 meters # Minimum depth: 1035.295586 meters looking forward 100.000000 meters along route # Maximum depth: 1035.295586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.295586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921510; longitude = -117.762019; captureRadius = 10; duration = 244; initialDepth = 1007.300158; finalDepth = 985.295586; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 985.295586 # Seafloor depth: -1035.295586 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 122.111180 meters # Minimum depth: 1057.300158 meters looking forward 100.000000 meters along route # Maximum depth: 1059.033192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.300158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920886; longitude = -117.763095; captureRadius = 10; duration = 244; initialDepth = 998.051388; finalDepth = 1007.300158; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1007.300158 # Seafloor depth: -1057.300158 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 122.111780 meters # Minimum depth: 1048.051388 meters looking forward 100.000000 meters along route # Maximum depth: 1055.197293 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.051388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920263; longitude = -117.764171; captureRadius = 10; duration = 244; initialDepth = 995.791891; finalDepth = 998.051388; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1459049999999 # Actual altitude: 57.1459049999999 # Commanded vehicle depth: 998.051388 # Seafloor depth: -1055.197293 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 228.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.86; MB_Bottom_Detect_Filter_Max_Range = 228.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 122.112380 meters # Minimum depth: 1045.791891 meters looking forward 100.000000 meters along route # Maximum depth: 1045.791891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.791891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919639; longitude = -117.765248; captureRadius = 10; duration = 244; initialDepth = 980.089004; finalDepth = 995.791891; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1459049999999 # Actual altitude: 57.1459049999999 # Commanded vehicle depth: 995.791891 # Seafloor depth: -1045.791891 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 228.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.86; MB_Bottom_Detect_Filter_Max_Range = 228.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 122.112980 meters # Minimum depth: 1030.089004 meters looking forward 100.000000 meters along route # Maximum depth: 1033.982195 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.089004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919015; longitude = -117.766324; captureRadius = 10; duration = 244; initialDepth = 966.239131; finalDepth = 980.089004; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8931910000001 # Actual altitude: 53.8931910000001 # Commanded vehicle depth: 980.089004 # Seafloor depth: -1033.982195 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 215.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.56; MB_Bottom_Detect_Filter_Max_Range = 215.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 122.113579 meters # Minimum depth: 1016.239131 meters looking forward 100.000000 meters along route # Maximum depth: 1022.618949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.239131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918391; longitude = -117.767400; captureRadius = 10; duration = 244; initialDepth = 962.548071; finalDepth = 966.239131; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.379818 # Actual altitude: 56.379818 # Commanded vehicle depth: 966.239131 # Seafloor depth: -1022.618949 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 225.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.55; MB_Bottom_Detect_Filter_Max_Range = 225.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 141.941611 meters # Minimum depth: 1012.548071 meters looking forward 100.000000 meters along route # Maximum depth: 1014.533083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.548071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917767; longitude = -117.768476; captureRadius = 10; duration = 283; initialDepth = 962.336925; finalDepth = 962.548071; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.379818 # Actual altitude: 56.379818 # Commanded vehicle depth: 962.548071 # Seafloor depth: -1014.533083 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 225.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.55; MB_Bottom_Detect_Filter_Max_Range = 225.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.287347 meters # Minimum depth: 1012.336925 meters looking forward 100.000000 meters along route # Maximum depth: 1012.336925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.336925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917042; longitude = -117.769727; captureRadius = 10; duration = 204; initialDepth = 961.337330; finalDepth = 962.336925; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.985012 # Actual altitude: 51.985012 # Commanded vehicle depth: 962.336925 # Seafloor depth: -1012.336925 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 122.115379 meters # Minimum depth: 1011.337330 meters looking forward 100.000000 meters along route # Maximum depth: 1011.499931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.337330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916520; longitude = -117.770629; captureRadius = 10; duration = 244; initialDepth = 959.484882; finalDepth = 961.337330; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.162601 # Actual altitude: 50.162601 # Commanded vehicle depth: 961.33733 # Seafloor depth: -1011.499931 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 128.637318 meters # Minimum depth: 1009.484882 meters looking forward 100.000000 meters along route # Maximum depth: 1011.362646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.484882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915896; longitude = -117.771705; captureRadius = 10; duration = 257; initialDepth = 959.386811; finalDepth = 959.484882; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8777640000001 # Actual altitude: 51.8777640000001 # Commanded vehicle depth: 959.484882 # Seafloor depth: -1011.362646 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 115.595240 meters # Minimum depth: 1009.386811 meters looking forward 100.000000 meters along route # Maximum depth: 1009.386811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.386811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915239; longitude = -117.772839; captureRadius = 10; duration = 231; initialDepth = 957.510443; finalDepth = 959.386811; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8777640000001 # Actual altitude: 51.8777640000001 # Commanded vehicle depth: 959.386811 # Seafloor depth: -1009.386811 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 122.117179 meters # Minimum depth: 1007.510443 meters looking forward 100.000000 meters along route # Maximum depth: 1008.000436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.510443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914648; longitude = -117.773858; captureRadius = 10; duration = 244; initialDepth = 957.027289; finalDepth = 957.510443; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.489993 # Actual altitude: 50.489993 # Commanded vehicle depth: 957.510443 # Seafloor depth: -1008.000436 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 201.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 122.117779 meters # Minimum depth: 1007.027289 meters looking forward 100.000000 meters along route # Maximum depth: 1007.193556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.027289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914025; longitude = -117.774934; captureRadius = 10; duration = 244; initialDepth = 957.048874; finalDepth = 957.027289; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.489993 # Actual altitude: 50.489993 # Commanded vehicle depth: 957.027289 # Seafloor depth: -1007.193556 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 201.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 122.118379 meters # Minimum depth: 1007.048874 meters looking forward 100.000000 meters along route # Maximum depth: 1007.048874 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.048874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913401; longitude = -117.776011; captureRadius = 10; duration = 244; initialDepth = 957.755025; finalDepth = 957.048874; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1662669999999 # Actual altitude: 50.1662669999999 # Commanded vehicle depth: 957.048874 # Seafloor depth: -1007.048874 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 122.118979 meters # Minimum depth: 1007.755025 meters looking forward 100.000000 meters along route # Maximum depth: 1007.983794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.755025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912777; longitude = -117.777087; captureRadius = 10; duration = 244; initialDepth = 958.609952; finalDepth = 957.755025; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 957.755025 # Seafloor depth: -1007.755025 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 122.119578 meters # Minimum depth: 1008.609952 meters looking forward 100.000000 meters along route # Maximum depth: 1009.191824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.609952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912153; longitude = -117.778163; captureRadius = 10; duration = 244; initialDepth = 959.552763; finalDepth = 958.609952; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 958.609952 # Seafloor depth: -1008.609952 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 122.120179 meters # Minimum depth: 1009.552763 meters looking forward 100.000000 meters along route # Maximum depth: 1009.552763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.552763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911529; longitude = -117.779239; captureRadius = 10; duration = 244; initialDepth = 961.232213; finalDepth = 959.552763; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 959.552763 # Seafloor depth: -1009.552763 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 122.120779 meters # Minimum depth: 1011.232213 meters looking forward 100.000000 meters along route # Maximum depth: 1011.789193 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.232213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910906; longitude = -117.780316; captureRadius = 10; duration = 244; initialDepth = 963.935447; finalDepth = 961.232213; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 961.232213 # Seafloor depth: -1011.232213 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 122.121380 meters # Minimum depth: 1013.935447 meters looking forward 100.000000 meters along route # Maximum depth: 1015.908756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.935447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910282; longitude = -117.781392; captureRadius = 10; duration = 244; initialDepth = 966.843908; finalDepth = 963.935447; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 963.935447 # Seafloor depth: -1013.935447 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 143.130176 meters # Minimum depth: 1016.843908 meters looking forward 100.000000 meters along route # Maximum depth: 1019.799036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.843908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909658; longitude = -117.782468; captureRadius = 10; duration = 286; initialDepth = 970.474353; finalDepth = 966.843908; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 966.843908 # Seafloor depth: -1016.843908 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.114382 meters # Minimum depth: 1020.474353 meters looking forward 100.000000 meters along route # Maximum depth: 1020.474353 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.474353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908927; longitude = -117.783730; captureRadius = 10; duration = 202; initialDepth = 973.065919; finalDepth = 970.474353; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 970.474353 # Seafloor depth: -1020.474353 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 122.123180 meters # Minimum depth: 1023.065919 meters looking forward 100.000000 meters along route # Maximum depth: 1023.880743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.065919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908410; longitude = -117.784621; captureRadius = 10; duration = 244; initialDepth = 965.666405; finalDepth = 973.065919; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 973.065919 # Seafloor depth: -1023.065919 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 129.825051 meters # Minimum depth: 1015.666405 meters looking forward 100.000000 meters along route # Maximum depth: 1023.636837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.666405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907787; longitude = -117.785697; captureRadius = 10; duration = 259; initialDepth = 965.647940; finalDepth = 965.666405; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.970432 # Actual altitude: 57.970432 # Commanded vehicle depth: 965.666405 # Seafloor depth: -1023.636837 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 231.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.19; MB_Bottom_Detect_Filter_Max_Range = 231.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 114.423109 meters # Minimum depth: 1015.647940 meters looking forward 100.000000 meters along route # Maximum depth: 1015.647940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.647940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907124; longitude = -117.786841; captureRadius = 10; duration = 228; initialDepth = 972.136992; finalDepth = 965.647940; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.970432 # Actual altitude: 57.970432 # Commanded vehicle depth: 965.64794 # Seafloor depth: -1015.647940 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 231.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.19; MB_Bottom_Detect_Filter_Max_Range = 231.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 122.124980 meters # Minimum depth: 1022.136992 meters looking forward 100.000000 meters along route # Maximum depth: 1026.013734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.136992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906539; longitude = -117.787850; captureRadius = 10; duration = 244; initialDepth = 972.300125; finalDepth = 972.136992; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 972.136992 # Seafloor depth: -1022.136992 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 122.125581 meters # Minimum depth: 1022.300125 meters looking forward 100.000000 meters along route # Maximum depth: 1026.105491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.300125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905915; longitude = -117.788926; captureRadius = 10; duration = 244; initialDepth = 972.383219; finalDepth = 972.300125; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.805366 # Actual altitude: 53.805366 # Commanded vehicle depth: 972.300125 # Seafloor depth: -1026.105491 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 215.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.52; MB_Bottom_Detect_Filter_Max_Range = 215.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 122.126180 meters # Minimum depth: 1022.383219 meters looking forward 100.000000 meters along route # Maximum depth: 1022.383219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.383219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905291; longitude = -117.790002; captureRadius = 10; duration = 244; initialDepth = 974.816034; finalDepth = 972.383219; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.805366 # Actual altitude: 53.805366 # Commanded vehicle depth: 972.383219 # Seafloor depth: -1022.383219 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 215.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.52; MB_Bottom_Detect_Filter_Max_Range = 215.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 122.126782 meters # Minimum depth: 1024.816034 meters looking forward 100.000000 meters along route # Maximum depth: 1025.264544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.816034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904668; longitude = -117.791079; captureRadius = 10; duration = 244; initialDepth = 976.893195; finalDepth = 974.816034; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 974.816034 # Seafloor depth: -1024.816034 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 122.127381 meters # Minimum depth: 1026.893195 meters looking forward 100.000000 meters along route # Maximum depth: 1026.986169 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.893195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904044; longitude = -117.792155; captureRadius = 10; duration = 244; initialDepth = 977.077805; finalDepth = 976.893195; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 976.893195 # Seafloor depth: -1026.893195 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 122.127982 meters # Minimum depth: 1027.077805 meters looking forward 100.000000 meters along route # Maximum depth: 1027.077805 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.077805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903420; longitude = -117.793231; captureRadius = 10; duration = 244; initialDepth = 979.403893; finalDepth = 977.077805; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 977.077805 # Seafloor depth: -1027.077805 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 122.128582 meters # Minimum depth: 1029.403893 meters looking forward 100.000000 meters along route # Maximum depth: 1029.701735 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.403893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902796; longitude = -117.794308; captureRadius = 10; duration = 244; initialDepth = 980.957344; finalDepth = 979.403893; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 979.403893 # Seafloor depth: -1029.403893 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 122.129183 meters # Minimum depth: 1030.957344 meters looking forward 100.000000 meters along route # Maximum depth: 1034.303119 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.957344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902172; longitude = -117.795384; captureRadius = 10; duration = 244; initialDepth = 985.305094; finalDepth = 980.957344; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 980.957344 # Seafloor depth: -1030.957344 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 122.129783 meters # Minimum depth: 1035.305094 meters looking forward 100.000000 meters along route # Maximum depth: 1035.305094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.305094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901549; longitude = -117.796460; captureRadius = 10; duration = 244; initialDepth = 988.141077; finalDepth = 985.305094; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 985.305094 # Seafloor depth: -1035.305094 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 122.130384 meters # Minimum depth: 1038.141077 meters looking forward 100.000000 meters along route # Maximum depth: 1038.844390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.141077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900925; longitude = -117.797536; captureRadius = 10; duration = 244; initialDepth = 992.971458; finalDepth = 988.141077; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 988.141077 # Seafloor depth: -1038.141077 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 122.130984 meters # Minimum depth: 1042.971458 meters looking forward 100.000000 meters along route # Maximum depth: 1047.289005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.971458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900301; longitude = -117.798613; captureRadius = 10; duration = 244; initialDepth = 998.943693; finalDepth = 992.971458; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 992.971458 # Seafloor depth: -1042.971458 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 131.012939 meters # Minimum depth: 1048.943693 meters looking forward 100.000000 meters along route # Maximum depth: 1050.138419 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.943693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899677; longitude = -117.799689; captureRadius = 10; duration = 262; initialDepth = 1000.087997; finalDepth = 998.943693; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 998.943693 # Seafloor depth: -1048.943693 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 113.250830 meters # Minimum depth: 1050.087997 meters looking forward 100.000000 meters along route # Maximum depth: 1050.087997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.087997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899008; longitude = -117.800844; captureRadius = 10; duration = 226; initialDepth = 999.841034; finalDepth = 1000.087997; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1000.087997 # Seafloor depth: -1050.087997 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 122.132786 meters # Minimum depth: 1049.841034 meters looking forward 100.000000 meters along route # Maximum depth: 1050.542364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.841034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898430; longitude = -117.801842; captureRadius = 10; duration = 244; initialDepth = 1000.859005; finalDepth = 999.841034; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 999.841034 # Seafloor depth: -1049.841034 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 122.133386 meters # Minimum depth: 1050.859005 meters looking forward 100.000000 meters along route # Maximum depth: 1050.939531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.859005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897806; longitude = -117.802918; captureRadius = 10; duration = 244; initialDepth = 1000.838355; finalDepth = 1000.859005; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.080526 # Actual altitude: 50.080526 # Commanded vehicle depth: 1000.859005 # Seafloor depth: -1050.939531 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 105.726477 meters # Minimum depth: 1050.838355 meters looking forward 100.000000 meters along route # Maximum depth: 1050.838355 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.838355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897182; longitude = -117.803994; captureRadius = 10; duration = 211; initialDepth = 1000.714294; finalDepth = 1000.838355; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.080526 # Actual altitude: 50.080526 # Commanded vehicle depth: 1000.838355 # Seafloor depth: -1050.838355 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 200.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 150.000000 meters # Minimum depth: 1050.714294 meters looking forward 100.000000 meters along route # Maximum depth: 1050.714294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.714294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896642; longitude = -117.804926; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 1000.115631; finalDepth = 1000.714294; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1000.714294 # Seafloor depth: -1050.714294 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 124.764209 meters # Minimum depth: 1050.115631 meters looking forward 100.000000 meters along route # Maximum depth: 1050.115631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.115631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895527; longitude = -117.804017; captureRadius = 10; duration = 249; # abortOnTimeout = True; initialDepth = 1000.545744; finalDepth = 1000.115631; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1000.115631 # Seafloor depth: -1050.115631 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 122.134063 meters # Minimum depth: 1050.545744 meters looking forward 100.000000 meters along route # Maximum depth: 1050.735873 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.545744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896164; longitude = -117.802918; captureRadius = 10; duration = 244; initialDepth = 1001.802579; finalDepth = 1000.545744; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1000.545744 # Seafloor depth: -1050.545744 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 122.133462 meters # Minimum depth: 1051.802579 meters looking forward 100.000000 meters along route # Maximum depth: 1051.908598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.802579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896788; longitude = -117.801842; captureRadius = 10; duration = 244; initialDepth = 999.215471; finalDepth = 1001.802579; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1060190000001 # Actual altitude: 50.1060190000001 # Commanded vehicle depth: 1001.802579 # Seafloor depth: -1051.908598 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.04; MB_Bottom_Detect_Filter_Max_Range = 200.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 135.963415 meters # Minimum depth: 1049.215471 meters looking forward 100.000000 meters along route # Maximum depth: 1051.185580 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.215471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897412; longitude = -117.800765; captureRadius = 10; duration = 271; initialDepth = 999.173337; finalDepth = 999.215471; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9701090000001 # Actual altitude: 51.9701090000001 # Commanded vehicle depth: 999.215471 # Seafloor depth: -1051.185580 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 108.301707 meters # Minimum depth: 1049.173337 meters looking forward 100.000000 meters along route # Maximum depth: 1049.173337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.173337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898106; longitude = -117.799567; captureRadius = 10; duration = 216; initialDepth = 998.400471; finalDepth = 999.173337; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9701090000001 # Actual altitude: 51.9701090000001 # Commanded vehicle depth: 999.173337 # Seafloor depth: -1049.173337 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 122.131661 meters # Minimum depth: 1048.400471 meters looking forward 100.000000 meters along route # Maximum depth: 1050.014887 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.400471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898660; longitude = -117.798613; captureRadius = 10; duration = 244; initialDepth = 989.184835; finalDepth = 998.400471; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6144160000001 # Actual altitude: 51.6144160000001 # Commanded vehicle depth: 998.400471 # Seafloor depth: -1050.014887 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 206.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 122.655654 meters # Minimum depth: 1039.184835 meters looking forward 100.000000 meters along route # Maximum depth: 1045.777857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.184835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899283; longitude = -117.797536; captureRadius = 10; duration = 245; initialDepth = 989.158396; finalDepth = 989.184835; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.593022 # Actual altitude: 56.593022 # Commanded vehicle depth: 989.184835 # Seafloor depth: -1045.777857 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 226.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.64; MB_Bottom_Detect_Filter_Max_Range = 226.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 121.605866 meters # Minimum depth: 1039.158396 meters looking forward 100.000000 meters along route # Maximum depth: 1039.158396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.158396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899910; longitude = -117.796456; captureRadius = 10; duration = 243; initialDepth = 984.796612; finalDepth = 989.158396; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.593022 # Actual altitude: 56.593022 # Commanded vehicle depth: 989.158396 # Seafloor depth: -1039.158396 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 226.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.64; MB_Bottom_Detect_Filter_Max_Range = 226.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 122.129859 meters # Minimum depth: 1034.796612 meters looking forward 100.000000 meters along route # Maximum depth: 1035.530108 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.796612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900531; longitude = -117.795384; captureRadius = 10; duration = 244; initialDepth = 982.190959; finalDepth = 984.796612; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7334959999998 # Actual altitude: 50.7334959999998 # Commanded vehicle depth: 984.796612 # Seafloor depth: -1035.530108 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 122.129259 meters # Minimum depth: 1032.190959 meters looking forward 100.000000 meters along route # Maximum depth: 1033.994114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.190959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901155; longitude = -117.794308; captureRadius = 10; duration = 244; initialDepth = 982.084244; finalDepth = 982.190959; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8031550000001 # Actual altitude: 51.8031550000001 # Commanded vehicle depth: 982.190959 # Seafloor depth: -1033.994114 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.72; MB_Bottom_Detect_Filter_Max_Range = 207.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 122.128659 meters # Minimum depth: 1032.084244 meters looking forward 100.000000 meters along route # Maximum depth: 1032.084244 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.084244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901779; longitude = -117.793231; captureRadius = 10; duration = 244; initialDepth = 981.719657; finalDepth = 982.084244; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8031550000001 # Actual altitude: 51.8031550000001 # Commanded vehicle depth: 982.084244 # Seafloor depth: -1032.084244 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.72; MB_Bottom_Detect_Filter_Max_Range = 207.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 122.128058 meters # Minimum depth: 1031.719657 meters looking forward 100.000000 meters along route # Maximum depth: 1032.253118 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.719657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902402; longitude = -117.792155; captureRadius = 10; duration = 244; initialDepth = 976.662130; finalDepth = 981.719657; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.533461 # Actual altitude: 50.533461 # Commanded vehicle depth: 981.719657 # Seafloor depth: -1032.253118 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 122.127458 meters # Minimum depth: 1026.662130 meters looking forward 100.000000 meters along route # Maximum depth: 1030.031565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.662130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903026; longitude = -117.791079; captureRadius = 10; duration = 244; initialDepth = 976.125139; finalDepth = 976.662130; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3694350000001 # Actual altitude: 53.3694350000001 # Commanded vehicle depth: 976.66213 # Seafloor depth: -1030.031565 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 213.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.35; MB_Bottom_Detect_Filter_Max_Range = 213.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 122.126858 meters # Minimum depth: 1026.125139 meters looking forward 100.000000 meters along route # Maximum depth: 1026.125139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.125139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903650; longitude = -117.790002; captureRadius = 10; duration = 244; initialDepth = 973.963746; finalDepth = 976.125139; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3694350000001 # Actual altitude: 53.3694350000001 # Commanded vehicle depth: 976.125139 # Seafloor depth: -1026.125139 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 213.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.35; MB_Bottom_Detect_Filter_Max_Range = 213.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 122.126258 meters # Minimum depth: 1023.963746 meters looking forward 100.000000 meters along route # Maximum depth: 1024.983099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.963746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904274; longitude = -117.788926; captureRadius = 10; duration = 244; initialDepth = 979.341001; finalDepth = 973.963746; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 973.963746 # Seafloor depth: -1023.963746 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 122.125657 meters # Minimum depth: 1029.341001 meters looking forward 100.000000 meters along route # Maximum depth: 1029.813858 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.341001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904898; longitude = -117.787850; captureRadius = 10; duration = 244; initialDepth = 977.652777; finalDepth = 979.341001; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 979.341001 # Seafloor depth: -1029.341001 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 137.144128 meters # Minimum depth: 1027.652777 meters looking forward 100.000000 meters along route # Maximum depth: 1028.379941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.652777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905521; longitude = -117.786773; captureRadius = 10; duration = 274; initialDepth = 977.594119; finalDepth = 977.652777; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7271639999999 # Actual altitude: 50.7271639999999 # Commanded vehicle depth: 977.652777 # Seafloor depth: -1028.379941 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 107.105386 meters # Minimum depth: 1027.594119 meters looking forward 100.000000 meters along route # Maximum depth: 1027.594119 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.594119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906222; longitude = -117.785565; captureRadius = 10; duration = 214; initialDepth = 976.944812; finalDepth = 977.594119; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7271639999999 # Actual altitude: 50.7271639999999 # Commanded vehicle depth: 977.594119 # Seafloor depth: -1027.594119 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 122.123857 meters # Minimum depth: 1026.944812 meters looking forward 100.000000 meters along route # Maximum depth: 1027.332052 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.944812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906769; longitude = -117.784621; captureRadius = 10; duration = 244; initialDepth = 973.191524; finalDepth = 976.944812; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 976.944812 # Seafloor depth: -1026.944812 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 123.837201 meters # Minimum depth: 1023.191524 meters looking forward 100.000000 meters along route # Maximum depth: 1027.510928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.191524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907393; longitude = -117.783545; captureRadius = 10; duration = 247; initialDepth = 973.113544; finalDepth = 973.191524; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.319404 # Actual altitude: 54.319404 # Commanded vehicle depth: 973.191524 # Seafloor depth: -1027.510928 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 217.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.73; MB_Bottom_Detect_Filter_Max_Range = 217.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 120.408712 meters # Minimum depth: 1023.113544 meters looking forward 100.000000 meters along route # Maximum depth: 1023.113544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.113544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908025; longitude = -117.782453; captureRadius = 10; duration = 240; initialDepth = 967.143805; finalDepth = 973.113544; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.319404 # Actual altitude: 54.319404 # Commanded vehicle depth: 973.113544 # Seafloor depth: -1023.113544 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 217.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.73; MB_Bottom_Detect_Filter_Max_Range = 217.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 122.122056 meters # Minimum depth: 1017.143805 meters looking forward 100.000000 meters along route # Maximum depth: 1018.168042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.143805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908640; longitude = -117.781392; captureRadius = 10; duration = 244; initialDepth = 964.042097; finalDepth = 967.143805; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.024237 # Actual altitude: 51.024237 # Commanded vehicle depth: 967.143805 # Seafloor depth: -1018.168042 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 204.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 122.121457 meters # Minimum depth: 1014.042097 meters looking forward 100.000000 meters along route # Maximum depth: 1015.743001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.042097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909264; longitude = -117.780316; captureRadius = 10; duration = 244; initialDepth = 963.906480; finalDepth = 964.042097; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.700904 # Actual altitude: 51.700904 # Commanded vehicle depth: 964.042097 # Seafloor depth: -1015.743001 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 206.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 122.120856 meters # Minimum depth: 1013.906480 meters looking forward 100.000000 meters along route # Maximum depth: 1013.906480 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.906480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909888; longitude = -117.779239; captureRadius = 10; duration = 244; initialDepth = 960.881984; finalDepth = 963.906480; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.700904 # Actual altitude: 51.700904 # Commanded vehicle depth: 963.90648 # Seafloor depth: -1013.906480 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 206.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 122.120256 meters # Minimum depth: 1010.881984 meters looking forward 100.000000 meters along route # Maximum depth: 1011.547382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.881984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910512; longitude = -117.778163; captureRadius = 10; duration = 244; initialDepth = 958.994508; finalDepth = 960.881984; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.665398 # Actual altitude: 50.665398 # Commanded vehicle depth: 960.881984 # Seafloor depth: -1011.547382 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 122.119656 meters # Minimum depth: 1008.994508 meters looking forward 100.000000 meters along route # Maximum depth: 1010.053901 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.994508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911135; longitude = -117.777087; captureRadius = 10; duration = 244; initialDepth = 958.862995; finalDepth = 958.994508; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.059393 # Actual altitude: 51.059393 # Commanded vehicle depth: 958.994508 # Seafloor depth: -1010.053901 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 122.119057 meters # Minimum depth: 1008.862995 meters looking forward 100.000000 meters along route # Maximum depth: 1008.862995 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.862995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911759; longitude = -117.776011; captureRadius = 10; duration = 244; initialDepth = 957.604908; finalDepth = 958.862995; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.059393 # Actual altitude: 51.059393 # Commanded vehicle depth: 958.862995 # Seafloor depth: -1008.862995 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 122.118456 meters # Minimum depth: 1007.604908 meters looking forward 100.000000 meters along route # Maximum depth: 1007.841892 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.604908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912383; longitude = -117.774934; captureRadius = 10; duration = 244; initialDepth = 957.174677; finalDepth = 957.604908; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.236984 # Actual altitude: 50.236984 # Commanded vehicle depth: 957.604908 # Seafloor depth: -1007.841892 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 122.117857 meters # Minimum depth: 1007.174677 meters looking forward 100.000000 meters along route # Maximum depth: 1007.837617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.174677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913007; longitude = -117.773858; captureRadius = 10; duration = 244; initialDepth = 958.330340; finalDepth = 957.174677; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.236984 # Actual altitude: 50.236984 # Commanded vehicle depth: 957.174677 # Seafloor depth: -1007.174677 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 138.324693 meters # Minimum depth: 1008.330340 meters looking forward 100.000000 meters along route # Maximum depth: 1009.000341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.330340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913631; longitude = -117.772782; captureRadius = 10; duration = 276; initialDepth = 959.050006; finalDepth = 958.330340; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 958.33034 # Seafloor depth: -1008.330340 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 105.909220 meters # Minimum depth: 1009.050006 meters looking forward 100.000000 meters along route # Maximum depth: 1009.050006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.050006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914337; longitude = -117.771562; captureRadius = 10; duration = 211; initialDepth = 959.472432; finalDepth = 959.050006; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 959.050006 # Seafloor depth: -1009.050006 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 122.116057 meters # Minimum depth: 1009.472432 meters looking forward 100.000000 meters along route # Maximum depth: 1010.898538 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.472432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914878; longitude = -117.770629; captureRadius = 10; duration = 244; initialDepth = 961.423204; finalDepth = 959.472432; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 959.472432 # Seafloor depth: -1009.472432 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 125.018600 meters # Minimum depth: 1011.423204 meters looking forward 100.000000 meters along route # Maximum depth: 1013.895457 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.423204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915502; longitude = -117.769553; captureRadius = 10; duration = 250; initialDepth = 963.937358; finalDepth = 961.423204; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 961.423204 # Seafloor depth: -1011.423204 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 119.211714 meters # Minimum depth: 1013.937358 meters looking forward 100.000000 meters along route # Maximum depth: 1013.937358 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.937358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916141; longitude = -117.768451; captureRadius = 10; duration = 238; initialDepth = 967.625600; finalDepth = 963.937358; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 963.937358 # Seafloor depth: -1013.937358 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 122.114257 meters # Minimum depth: 1017.625600 meters looking forward 100.000000 meters along route # Maximum depth: 1018.971222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.625600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916750; longitude = -117.767400; captureRadius = 10; duration = 244; initialDepth = 971.159666; finalDepth = 967.625600; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 967.6256 # Seafloor depth: -1017.625600 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 122.113658 meters # Minimum depth: 1021.159666 meters looking forward 100.000000 meters along route # Maximum depth: 1026.100292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.159666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917373; longitude = -117.766324; captureRadius = 10; duration = 244; initialDepth = 976.761870; finalDepth = 971.159666; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 971.159666 # Seafloor depth: -1021.159666 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 122.113057 meters # Minimum depth: 1026.761870 meters looking forward 100.000000 meters along route # Maximum depth: 1026.761870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.761870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917997; longitude = -117.765248; captureRadius = 10; duration = 244; initialDepth = 987.273404; finalDepth = 976.761870; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 976.76187 # Seafloor depth: -1026.761870 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 122.112459 meters # Minimum depth: 1037.273404 meters looking forward 100.000000 meters along route # Maximum depth: 1041.981681 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.273404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918621; longitude = -117.764171; captureRadius = 10; duration = 244; initialDepth = 1001.839420; finalDepth = 987.273404; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 987.273404 # Seafloor depth: -1037.273404 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 122.111858 meters # Minimum depth: 1051.839420 meters looking forward 100.000000 meters along route # Maximum depth: 1053.667091 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.839420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919245; longitude = -117.763095; captureRadius = 10; duration = 244; initialDepth = 1001.334951; finalDepth = 1001.839420; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1001.83942 # Seafloor depth: -1051.839420 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 122.111259 meters # Minimum depth: 1051.334951 meters looking forward 100.000000 meters along route # Maximum depth: 1051.334951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.334951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919869; longitude = -117.762019; captureRadius = 10; duration = 244; initialDepth = 984.421710; finalDepth = 1001.334951; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1001.334951 # Seafloor depth: -1051.334951 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 122.110659 meters # Minimum depth: 1034.421710 meters looking forward 100.000000 meters along route # Maximum depth: 1037.462019 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.421710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920492; longitude = -117.760942; captureRadius = 10; duration = 244; initialDepth = 966.297263; finalDepth = 984.421710; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.040309 # Actual altitude: 53.040309 # Commanded vehicle depth: 984.42171 # Seafloor depth: -1037.462019 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 212.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 122.110059 meters # Minimum depth: 1016.297263 meters looking forward 100.000000 meters along route # Maximum depth: 1022.420956 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.297263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921116; longitude = -117.759866; captureRadius = 10; duration = 244; initialDepth = 955.613342; finalDepth = 966.297263; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.123693 # Actual altitude: 56.123693 # Commanded vehicle depth: 966.297263 # Seafloor depth: -1022.420956 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 224.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.45; MB_Bottom_Detect_Filter_Max_Range = 224.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 139.505111 meters # Minimum depth: 1005.613342 meters looking forward 100.000000 meters along route # Maximum depth: 1013.540005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.613342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921740; longitude = -117.758790; captureRadius = 10; duration = 279; initialDepth = 954.533494; finalDepth = 955.613342; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.926663 # Actual altitude: 57.926663 # Commanded vehicle depth: 955.613342 # Seafloor depth: -1013.540005 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 231.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.17; MB_Bottom_Detect_Filter_Max_Range = 231.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 104.713209 meters # Minimum depth: 1004.533494 meters looking forward 100.000000 meters along route # Maximum depth: 1004.533494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.533494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922453; longitude = -117.757560; captureRadius = 10; duration = 209; initialDepth = 948.745852; finalDepth = 954.533494; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.926663 # Actual altitude: 57.926663 # Commanded vehicle depth: 954.533494 # Seafloor depth: -1004.533494 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 231.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.17; MB_Bottom_Detect_Filter_Max_Range = 231.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 122.108261 meters # Minimum depth: 998.745852 meters looking forward 100.000000 meters along route # Maximum depth: 999.502405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.745852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922988; longitude = -117.756637; captureRadius = 10; duration = 244; initialDepth = 940.695389; finalDepth = 948.745852; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7565529999999 # Actual altitude: 50.7565529999999 # Commanded vehicle depth: 948.745852 # Seafloor depth: -999.502405 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 203.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 126.199851 meters # Minimum depth: 990.695389 meters looking forward 100.000000 meters along route # Maximum depth: 998.353137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.695389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923611; longitude = -117.755561; captureRadius = 10; duration = 252; initialDepth = 938.456094; finalDepth = 940.695389; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.657748 # Actual altitude: 57.657748 # Commanded vehicle depth: 940.695389 # Seafloor depth: -998.353137 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 230.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.06; MB_Bottom_Detect_Filter_Max_Range = 230.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 176.508781 meters # Minimum depth: 988.456094 meters looking forward 100.000000 meters along route # Maximum depth: 990.550657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.456094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.924256; longitude = -117.754449; captureRadius = 10; duration = 353; initialDepth = 932.380116; finalDepth = 938.456094; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.657748 # Actual altitude: 57.657748 # Commanded vehicle depth: 938.456094 # Seafloor depth: -990.550657 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 230.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.06; MB_Bottom_Detect_Filter_Max_Range = 230.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 142.462656 meters # Minimum depth: 982.380116 meters looking forward 100.000000 meters along route # Maximum depth: 985.972179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.380116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.925158; longitude = -117.752893; captureRadius = 10; duration = 284; initialDepth = 931.017105; finalDepth = 932.380116; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.5920629999999 # Actual altitude: 53.5920629999999 # Commanded vehicle depth: 932.380116 # Seafloor depth: -985.972179 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 214.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 214.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 150.000000 meters # Minimum depth: 981.017105 meters looking forward 100.000000 meters along route # Maximum depth: 983.674002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.017105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.925886; longitude = -117.751637; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 935.284531; finalDepth = 931.017105; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 53.5920629999999 # Actual altitude: 53.5920629999999 # Commanded vehicle depth: 931.017105 # Seafloor depth: -981.017105 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 214.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 214.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 181.884844 meters # Minimum depth: 985.284531 meters looking forward 100.000000 meters along route # Maximum depth: 985.571157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.284531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.924770; longitude = -117.750729; captureRadius = 10; duration = 363; # abortOnTimeout = True; initialDepth = 941.390970; finalDepth = 935.284531; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 935.284531 # Seafloor depth: -985.284531 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 122.107740 meters # Minimum depth: 991.390970 meters looking forward 100.000000 meters along route # Maximum depth: 992.323011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.390970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923841; longitude = -117.752332; captureRadius = 10; duration = 244; initialDepth = 940.905121; finalDepth = 941.390970; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9320409999999 # Actual altitude: 50.9320409999999 # Commanded vehicle depth: 941.39097 # Seafloor depth: -992.323011 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 122.108340 meters # Minimum depth: 990.905121 meters looking forward 100.000000 meters along route # Maximum depth: 990.905121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.905121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923217; longitude = -117.753408; captureRadius = 10; duration = 244; initialDepth = 948.481419; finalDepth = 940.905121; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9320409999999 # Actual altitude: 50.9320409999999 # Commanded vehicle depth: 940.905121 # Seafloor depth: -990.905121 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 122.108939 meters # Minimum depth: 998.481419 meters looking forward 100.000000 meters along route # Maximum depth: 999.099903 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.481419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922594; longitude = -117.754485; captureRadius = 10; duration = 244; initialDepth = 951.575787; finalDepth = 948.481419; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 948.481419 # Seafloor depth: -998.481419 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 122.109538 meters # Minimum depth: 1001.575787 meters looking forward 100.000000 meters along route # Maximum depth: 1005.149676 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.575787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921970; longitude = -117.755561; captureRadius = 10; duration = 244; initialDepth = 956.536241; finalDepth = 951.575787; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 951.575787 # Seafloor depth: -1001.575787 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 136.382053 meters # Minimum depth: 1006.536241 meters looking forward 100.000000 meters along route # Maximum depth: 1013.015509 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.536241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921346; longitude = -117.756637; captureRadius = 10; duration = 272; initialDepth = 963.937235; finalDepth = 956.536241; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 956.536241 # Seafloor depth: -1006.536241 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 107.838823 meters # Minimum depth: 1013.937235 meters looking forward 100.000000 meters along route # Maximum depth: 1013.937235 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.937235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920649; longitude = -117.757839; captureRadius = 10; duration = 215; initialDepth = 970.731578; finalDepth = 963.937235; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 963.937235 # Seafloor depth: -1013.937235 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 122.111337 meters # Minimum depth: 1020.731578 meters looking forward 100.000000 meters along route # Maximum depth: 1025.777294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.731578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920098; longitude = -117.758790; captureRadius = 10; duration = 244; initialDepth = 978.913511; finalDepth = 970.731578; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 970.731578 # Seafloor depth: -1020.731578 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 123.082511 meters # Minimum depth: 1028.913511 meters looking forward 100.000000 meters along route # Maximum depth: 1038.070130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.913511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919475; longitude = -117.759866; captureRadius = 10; duration = 246; initialDepth = 988.154635; finalDepth = 978.913511; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 978.913511 # Seafloor depth: -1028.913511 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 121.141963 meters # Minimum depth: 1038.154635 meters looking forward 100.000000 meters along route # Maximum depth: 1038.154635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.154635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918846; longitude = -117.760951; captureRadius = 10; duration = 242; initialDepth = 989.481293; finalDepth = 988.154635; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 988.154635 # Seafloor depth: -1038.154635 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 122.113136 meters # Minimum depth: 1039.481293 meters looking forward 100.000000 meters along route # Maximum depth: 1043.874575 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.481293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918227; longitude = -117.762019; captureRadius = 10; duration = 244; initialDepth = 972.927347; finalDepth = 989.481293; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.393282 # Actual altitude: 54.393282 # Commanded vehicle depth: 989.481293 # Seafloor depth: -1043.874575 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 217.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.76; MB_Bottom_Detect_Filter_Max_Range = 217.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 122.113736 meters # Minimum depth: 1022.927347 meters looking forward 100.000000 meters along route # Maximum depth: 1032.415486 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.927347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917603; longitude = -117.763095; captureRadius = 10; duration = 244; initialDepth = 972.329472; finalDepth = 972.927347; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.488139 # Actual altitude: 59.488139 # Commanded vehicle depth: 972.927347 # Seafloor depth: -1032.415486 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 237.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.80; MB_Bottom_Detect_Filter_Max_Range = 237.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 122.114336 meters # Minimum depth: 1022.329472 meters looking forward 100.000000 meters along route # Maximum depth: 1022.329472 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.329472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916979; longitude = -117.764171; captureRadius = 10; duration = 244; initialDepth = 968.040429; finalDepth = 972.329472; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.488139 # Actual altitude: 59.488139 # Commanded vehicle depth: 972.329472 # Seafloor depth: -1022.329472 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 237.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.80; MB_Bottom_Detect_Filter_Max_Range = 237.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 122.114935 meters # Minimum depth: 1018.040429 meters looking forward 100.000000 meters along route # Maximum depth: 1019.033633 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.040429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916356; longitude = -117.765248; captureRadius = 10; duration = 244; initialDepth = 965.227565; finalDepth = 968.040429; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.993204 # Actual altitude: 50.993204 # Commanded vehicle depth: 968.040429 # Seafloor depth: -1019.033633 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 203.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 122.115535 meters # Minimum depth: 1015.227565 meters looking forward 100.000000 meters along route # Maximum depth: 1017.461140 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.227565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915732; longitude = -117.766324; captureRadius = 10; duration = 244; initialDepth = 964.635704; finalDepth = 965.227565; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.233575 # Actual altitude: 52.233575 # Commanded vehicle depth: 965.227565 # Seafloor depth: -1017.461140 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 208.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 122.116135 meters # Minimum depth: 1014.635704 meters looking forward 100.000000 meters along route # Maximum depth: 1014.635704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.635704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915108; longitude = -117.767400; captureRadius = 10; duration = 244; initialDepth = 962.474142; finalDepth = 964.635704; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.233575 # Actual altitude: 52.233575 # Commanded vehicle depth: 964.635704 # Seafloor depth: -1014.635704 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 208.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 122.116734 meters # Minimum depth: 1012.474142 meters looking forward 100.000000 meters along route # Maximum depth: 1013.165842 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.474142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914484; longitude = -117.768476; captureRadius = 10; duration = 244; initialDepth = 958.067690; finalDepth = 962.474142; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6917 # Actual altitude: 50.6917 # Commanded vehicle depth: 962.474142 # Seafloor depth: -1013.165842 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 122.117335 meters # Minimum depth: 1008.067690 meters looking forward 100.000000 meters along route # Maximum depth: 1009.659296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.067690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913860; longitude = -117.769553; captureRadius = 10; duration = 244; initialDepth = 957.715429; finalDepth = 958.067690; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5916060000001 # Actual altitude: 51.5916060000001 # Commanded vehicle depth: 958.06769 # Seafloor depth: -1009.659296 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 137.589975 meters # Minimum depth: 1007.715429 meters looking forward 100.000000 meters along route # Maximum depth: 1007.937182 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.715429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913237; longitude = -117.770629; captureRadius = 10; duration = 275; initialDepth = 957.936998; finalDepth = 957.715429; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5916060000001 # Actual altitude: 51.5916060000001 # Commanded vehicle depth: 957.715429 # Seafloor depth: -1007.715429 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 106.646493 meters # Minimum depth: 1007.936998 meters looking forward 100.000000 meters along route # Maximum depth: 1007.936998 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.936998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912534; longitude = -117.771842; captureRadius = 10; duration = 213; initialDepth = 958.418518; finalDepth = 957.936998; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 957.936998 # Seafloor depth: -1007.936998 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 122.119134 meters # Minimum depth: 1008.418518 meters looking forward 100.000000 meters along route # Maximum depth: 1008.604878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.418518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911989; longitude = -117.772782; captureRadius = 10; duration = 244; initialDepth = 959.142504; finalDepth = 958.418518; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 958.418518 # Seafloor depth: -1008.418518 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 124.289602 meters # Minimum depth: 1009.142504 meters looking forward 100.000000 meters along route # Maximum depth: 1010.682631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.142504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911365; longitude = -117.773858; captureRadius = 10; duration = 248; initialDepth = 960.714003; finalDepth = 959.142504; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 959.142504 # Seafloor depth: -1009.142504 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 119.950466 meters # Minimum depth: 1010.714003 meters looking forward 100.000000 meters along route # Maximum depth: 1010.714003 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.714003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910730; longitude = -117.774953; captureRadius = 10; duration = 239; initialDepth = 962.659662; finalDepth = 960.714003; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 960.714003 # Seafloor depth: -1010.714003 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 122.120933 meters # Minimum depth: 1012.659662 meters looking forward 100.000000 meters along route # Maximum depth: 1013.409062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.659662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910118; longitude = -117.776011; captureRadius = 10; duration = 244; initialDepth = 964.811159; finalDepth = 962.659662; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 962.659662 # Seafloor depth: -1012.659662 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 122.121534 meters # Minimum depth: 1014.811159 meters looking forward 100.000000 meters along route # Maximum depth: 1017.235058 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.811159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909494; longitude = -117.777087; captureRadius = 10; duration = 244; initialDepth = 967.480733; finalDepth = 964.811159; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 964.811159 # Seafloor depth: -1014.811159 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 122.122134 meters # Minimum depth: 1017.480733 meters looking forward 100.000000 meters along route # Maximum depth: 1017.480733 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.480733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908870; longitude = -117.778163; captureRadius = 10; duration = 244; initialDepth = 969.928182; finalDepth = 967.480733; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 967.480733 # Seafloor depth: -1017.480733 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 122.122734 meters # Minimum depth: 1019.928182 meters looking forward 100.000000 meters along route # Maximum depth: 1020.429490 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.928182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908246; longitude = -117.779239; captureRadius = 10; duration = 244; initialDepth = 971.298511; finalDepth = 969.928182; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 969.928182 # Seafloor depth: -1019.928182 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 122.123334 meters # Minimum depth: 1021.298511 meters looking forward 100.000000 meters along route # Maximum depth: 1023.037532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.298511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907623; longitude = -117.780316; captureRadius = 10; duration = 244; initialDepth = 973.475250; finalDepth = 971.298511; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 971.298511 # Seafloor depth: -1021.298511 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 122.123933 meters # Minimum depth: 1023.475250 meters looking forward 100.000000 meters along route # Maximum depth: 1023.475250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.475250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906999; longitude = -117.781392; captureRadius = 10; duration = 244; initialDepth = 978.141885; finalDepth = 973.475250; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 973.47525 # Seafloor depth: -1023.475250 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 122.124534 meters # Minimum depth: 1028.141885 meters looking forward 100.000000 meters along route # Maximum depth: 1028.500294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.141885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906375; longitude = -117.782468; captureRadius = 10; duration = 244; initialDepth = 977.079056; finalDepth = 978.141885; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3584089999999 # Actual altitude: 50.3584089999999 # Commanded vehicle depth: 978.141885 # Seafloor depth: -1028.500294 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 122.125134 meters # Minimum depth: 1027.079056 meters looking forward 100.000000 meters along route # Maximum depth: 1029.317334 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.079056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905751; longitude = -117.783545; captureRadius = 10; duration = 244; initialDepth = 980.252620; finalDepth = 977.079056; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3584089999999 # Actual altitude: 50.3584089999999 # Commanded vehicle depth: 977.079056 # Seafloor depth: -1027.079056 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 138.798057 meters # Minimum depth: 1030.252620 meters looking forward 100.000000 meters along route # Maximum depth: 1031.958224 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.252620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905127; longitude = -117.784621; captureRadius = 10; duration = 277; initialDepth = 982.102502; finalDepth = 980.252620; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 980.25262 # Seafloor depth: -1030.252620 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 105.454012 meters # Minimum depth: 1032.102502 meters looking forward 100.000000 meters along route # Maximum depth: 1032.102502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.102502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904418; longitude = -117.785844; captureRadius = 10; duration = 210; initialDepth = 981.096081; finalDepth = 982.102502; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 982.102502 # Seafloor depth: -1032.102502 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 122.126934 meters # Minimum depth: 1031.096081 meters looking forward 100.000000 meters along route # Maximum depth: 1033.102283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.096081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903880; longitude = -117.786773; captureRadius = 10; duration = 244; initialDepth = 979.171491; finalDepth = 981.096081; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.006202 # Actual altitude: 52.006202 # Commanded vehicle depth: 981.096081 # Seafloor depth: -1033.102283 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 208.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 125.496852 meters # Minimum depth: 1029.171491 meters looking forward 100.000000 meters along route # Maximum depth: 1029.531017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.171491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903256; longitude = -117.787850; captureRadius = 10; duration = 250; initialDepth = 979.588090; finalDepth = 979.171491; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.006202 # Actual altitude: 52.006202 # Commanded vehicle depth: 979.171491 # Seafloor depth: -1029.171491 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 208.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 118.758818 meters # Minimum depth: 1029.588090 meters looking forward 100.000000 meters along route # Maximum depth: 1029.588090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.588090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902615; longitude = -117.788956; captureRadius = 10; duration = 237; initialDepth = 981.455705; finalDepth = 979.588090; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 979.58809 # Seafloor depth: -1029.588090 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 122.128735 meters # Minimum depth: 1031.455705 meters looking forward 100.000000 meters along route # Maximum depth: 1033.036360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.455705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902008; longitude = -117.790002; captureRadius = 10; duration = 244; initialDepth = 985.363211; finalDepth = 981.455705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 981.455705 # Seafloor depth: -1031.455705 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 122.129336 meters # Minimum depth: 1035.363211 meters looking forward 100.000000 meters along route # Maximum depth: 1036.946357 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.363211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901385; longitude = -117.791079; captureRadius = 10; duration = 244; initialDepth = 987.109138; finalDepth = 985.363211; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 985.363211 # Seafloor depth: -1035.363211 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 122.129936 meters # Minimum depth: 1037.109138 meters looking forward 100.000000 meters along route # Maximum depth: 1037.109138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.109138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900761; longitude = -117.792155; captureRadius = 10; duration = 244; initialDepth = 988.491717; finalDepth = 987.109138; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 987.109138 # Seafloor depth: -1037.109138 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 122.130536 meters # Minimum depth: 1038.491717 meters looking forward 100.000000 meters along route # Maximum depth: 1038.952971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.491717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900137; longitude = -117.793231; captureRadius = 10; duration = 244; initialDepth = 990.251213; finalDepth = 988.491717; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 988.491717 # Seafloor depth: -1038.491717 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 122.131136 meters # Minimum depth: 1040.251213 meters looking forward 100.000000 meters along route # Maximum depth: 1044.550155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.251213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899513; longitude = -117.794308; captureRadius = 10; duration = 244; initialDepth = 995.453110; finalDepth = 990.251213; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 990.251213 # Seafloor depth: -1040.251213 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 122.131737 meters # Minimum depth: 1045.453110 meters looking forward 100.000000 meters along route # Maximum depth: 1045.453110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.453110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898889; longitude = -117.795384; captureRadius = 10; duration = 244; initialDepth = 1000.874726; finalDepth = 995.453110; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 995.45311 # Seafloor depth: -1045.453110 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 122.132337 meters # Minimum depth: 1050.874726 meters looking forward 100.000000 meters along route # Maximum depth: 1051.284512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.874726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898266; longitude = -117.796460; captureRadius = 10; duration = 244; initialDepth = 1000.226072; finalDepth = 1000.874726; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1000.874726 # Seafloor depth: -1050.874726 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 122.132938 meters # Minimum depth: 1050.226072 meters looking forward 100.000000 meters along route # Maximum depth: 1050.507887 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.226072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897642; longitude = -117.797536; captureRadius = 10; duration = 244; initialDepth = 1000.813330; finalDepth = 1000.226072; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1000.226072 # Seafloor depth: -1050.226072 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 140.006295 meters # Minimum depth: 1050.813330 meters looking forward 100.000000 meters along route # Maximum depth: 1051.901109 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.813330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897018; longitude = -117.798613; captureRadius = 10; duration = 280; initialDepth = 1001.977208; finalDepth = 1000.813330; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1000.81333 # Seafloor depth: -1050.813330 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 104.261381 meters # Minimum depth: 1051.977208 meters looking forward 100.000000 meters along route # Maximum depth: 1051.977208 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.977208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896303; longitude = -117.799847; captureRadius = 10; duration = 208; initialDepth = 1000.918399; finalDepth = 1001.977208; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1001.977208 # Seafloor depth: -1051.977208 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 122.134739 meters # Minimum depth: 1050.918399 meters looking forward 100.000000 meters along route # Maximum depth: 1051.309601 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.918399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895770; longitude = -117.800765; captureRadius = 10; duration = 244; initialDepth = 1000.764780; finalDepth = 1000.918399; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.391202 # Actual altitude: 50.391202 # Commanded vehicle depth: 1000.918399 # Seafloor depth: -1051.309601 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.16; MB_Bottom_Detect_Filter_Max_Range = 201.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 143.804769 meters # Minimum depth: 1050.764780 meters looking forward 100.000000 meters along route # Maximum depth: 1050.843130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.764780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895147; longitude = -117.801842; captureRadius = 10; duration = 287; initialDepth = 1000.462391; finalDepth = 1000.764780; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.391202 # Actual altitude: 50.391202 # Commanded vehicle depth: 1000.76478 # Seafloor depth: -1050.843130 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 201.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.16; MB_Bottom_Detect_Filter_Max_Range = 201.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 150.000000 meters # Minimum depth: 1050.462391 meters looking forward 100.000000 meters along route # Maximum depth: 1051.027924 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.462391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894412; longitude = -117.803109; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 1000.533295; finalDepth = 1000.462391; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50.565533 # Actual altitude: 50.565533 # Commanded vehicle depth: 1000.462391 # Seafloor depth: -1051.027924 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 202.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 162.848154 meters # Minimum depth: 1050.533295 meters looking forward 100.000000 meters along route # Maximum depth: 1050.533295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.533295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893297; longitude = -117.802200; captureRadius = 10; duration = 325; # abortOnTimeout = True; initialDepth = 1001.270371; finalDepth = 1000.533295; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.565533 # Actual altitude: 50.565533 # Commanded vehicle depth: 1000.533295 # Seafloor depth: -1050.533295 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 122.135416 meters # Minimum depth: 1051.270371 meters looking forward 100.000000 meters along route # Maximum depth: 1051.512408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.270371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894129; longitude = -117.800765; captureRadius = 10; duration = 244; initialDepth = 1001.853279; finalDepth = 1001.270371; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1001.270371 # Seafloor depth: -1051.270371 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 126.971825 meters # Minimum depth: 1051.853279 meters looking forward 100.000000 meters along route # Maximum depth: 1051.987206 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.853279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894753; longitude = -117.799689; captureRadius = 10; duration = 253; initialDepth = 1001.989571; finalDepth = 1001.853279; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1001.853279 # Seafloor depth: -1051.853279 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 117.297204 meters # Minimum depth: 1051.989571 meters looking forward 100.000000 meters along route # Maximum depth: 1051.989571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.989571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895401; longitude = -117.798570; captureRadius = 10; duration = 234; initialDepth = 1001.017931; finalDepth = 1001.989571; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1001.989571 # Seafloor depth: -1051.989571 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 122.133614 meters # Minimum depth: 1051.017931 meters looking forward 100.000000 meters along route # Maximum depth: 1051.083675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.017931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896000; longitude = -117.797536; captureRadius = 10; duration = 244; initialDepth = 1001.733489; finalDepth = 1001.017931; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.065744 # Actual altitude: 50.065744 # Commanded vehicle depth: 1001.017931 # Seafloor depth: -1051.083675 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 122.133014 meters # Minimum depth: 1051.733489 meters looking forward 100.000000 meters along route # Maximum depth: 1052.508935 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.733489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896624; longitude = -117.796460; captureRadius = 10; duration = 244; initialDepth = 1002.427768; finalDepth = 1001.733489; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.065744 # Actual altitude: 50.065744 # Commanded vehicle depth: 1001.733489 # Seafloor depth: -1051.733489 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 122.132414 meters # Minimum depth: 1052.427768 meters looking forward 100.000000 meters along route # Maximum depth: 1052.427768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.427768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897248; longitude = -117.795384; captureRadius = 10; duration = 244; initialDepth = 997.896735; finalDepth = 1002.427768; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1002.427768 # Seafloor depth: -1052.427768 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 122.131813 meters # Minimum depth: 1047.896735 meters looking forward 100.000000 meters along route # Maximum depth: 1049.486724 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.896735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897872; longitude = -117.794308; captureRadius = 10; duration = 244; initialDepth = 992.508910; finalDepth = 997.896735; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5899890000001 # Actual altitude: 51.5899890000001 # Commanded vehicle depth: 997.896735 # Seafloor depth: -1049.486724 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 122.131213 meters # Minimum depth: 1042.508910 meters looking forward 100.000000 meters along route # Maximum depth: 1045.557307 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.508910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898495; longitude = -117.793231; captureRadius = 10; duration = 244; initialDepth = 992.102740; finalDepth = 992.508910; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.048397 # Actual altitude: 53.048397 # Commanded vehicle depth: 992.50891 # Seafloor depth: -1045.557307 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 212.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 122.130612 meters # Minimum depth: 1042.102740 meters looking forward 100.000000 meters along route # Maximum depth: 1042.102740 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.102740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899119; longitude = -117.792155; captureRadius = 10; duration = 244; initialDepth = 989.851270; finalDepth = 992.102740; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.048397 # Actual altitude: 53.048397 # Commanded vehicle depth: 992.10274 # Seafloor depth: -1042.102740 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 212.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 122.130013 meters # Minimum depth: 1039.851270 meters looking forward 100.000000 meters along route # Maximum depth: 1040.038473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.851270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899743; longitude = -117.791079; captureRadius = 10; duration = 244; initialDepth = 987.730110; finalDepth = 989.851270; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 989.85127 # Seafloor depth: -1039.851270 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 122.129412 meters # Minimum depth: 1037.730110 meters looking forward 100.000000 meters along route # Maximum depth: 1040.209090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.730110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900367; longitude = -117.790002; captureRadius = 10; duration = 244; initialDepth = 985.110902; finalDepth = 987.730110; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4789800000001 # Actual altitude: 52.4789800000001 # Commanded vehicle depth: 987.73011 # Seafloor depth: -1040.209090 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.99; MB_Bottom_Detect_Filter_Max_Range = 209.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 141.475895 meters # Minimum depth: 1035.110902 meters looking forward 100.000000 meters along route # Maximum depth: 1036.606348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.110902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900991; longitude = -117.788926; captureRadius = 10; duration = 282; initialDepth = 985.477971; finalDepth = 985.110902; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4789800000001 # Actual altitude: 52.4789800000001 # Commanded vehicle depth: 985.110902 # Seafloor depth: -1036.606348 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.99; MB_Bottom_Detect_Filter_Max_Range = 209.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.781128 meters # Minimum depth: 1035.477971 meters looking forward 100.000000 meters along route # Maximum depth: 1035.477971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.477971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901713; longitude = -117.787679; captureRadius = 10; duration = 205; initialDepth = 989.605984; finalDepth = 985.477971; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4954460000001 # Actual altitude: 51.4954460000001 # Commanded vehicle depth: 985.477971 # Seafloor depth: -1035.477971 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 205.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 122.127612 meters # Minimum depth: 1039.605984 meters looking forward 100.000000 meters along route # Maximum depth: 1040.620314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.605984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902238; longitude = -117.786773; captureRadius = 10; duration = 244; initialDepth = 987.340775; finalDepth = 989.605984; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 989.605984 # Seafloor depth: -1039.605984 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 128.172887 meters # Minimum depth: 1037.340775 meters looking forward 100.000000 meters along route # Maximum depth: 1039.275202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.340775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902862; longitude = -117.785697; captureRadius = 10; duration = 256; initialDepth = 987.182553; finalDepth = 987.340775; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9344270000001 # Actual altitude: 51.9344270000001 # Commanded vehicle depth: 987.340775 # Seafloor depth: -1039.275202 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 116.080536 meters # Minimum depth: 1037.182553 meters looking forward 100.000000 meters along route # Maximum depth: 1037.182553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.182553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903517; longitude = -117.784568; captureRadius = 10; duration = 232; initialDepth = 979.833150; finalDepth = 987.182553; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9344270000001 # Actual altitude: 51.9344270000001 # Commanded vehicle depth: 987.182553 # Seafloor depth: -1037.182553 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 122.125811 meters # Minimum depth: 1029.833150 meters looking forward 100.000000 meters along route # Maximum depth: 1035.271055 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.833150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904110; longitude = -117.783545; captureRadius = 10; duration = 244; initialDepth = 976.818937; finalDepth = 979.833150; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.437905 # Actual altitude: 55.437905 # Commanded vehicle depth: 979.83315 # Seafloor depth: -1035.271055 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 221.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.18; MB_Bottom_Detect_Filter_Max_Range = 221.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 122.125211 meters # Minimum depth: 1026.818937 meters looking forward 100.000000 meters along route # Maximum depth: 1027.950853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.818937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904733; longitude = -117.782468; captureRadius = 10; duration = 244; initialDepth = 977.804567; finalDepth = 976.818937; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.437905 # Actual altitude: 55.437905 # Commanded vehicle depth: 976.818937 # Seafloor depth: -1026.818937 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 221.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.18; MB_Bottom_Detect_Filter_Max_Range = 221.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 122.124611 meters # Minimum depth: 1027.804567 meters looking forward 100.000000 meters along route # Maximum depth: 1027.804567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.804567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905357; longitude = -117.781392; captureRadius = 10; duration = 244; initialDepth = 976.215776; finalDepth = 977.804567; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 977.804567 # Seafloor depth: -1027.804567 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 122.124011 meters # Minimum depth: 1026.215776 meters looking forward 100.000000 meters along route # Maximum depth: 1026.579113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.215776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905981; longitude = -117.780316; captureRadius = 10; duration = 244; initialDepth = 973.906784; finalDepth = 976.215776; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.363337 # Actual altitude: 50.363337 # Commanded vehicle depth: 976.215776 # Seafloor depth: -1026.579113 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 122.123412 meters # Minimum depth: 1023.906784 meters looking forward 100.000000 meters along route # Maximum depth: 1025.147489 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.906784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906605; longitude = -117.779239; captureRadius = 10; duration = 244; initialDepth = 973.670165; finalDepth = 973.906784; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2407049999999 # Actual altitude: 51.2407049999999 # Commanded vehicle depth: 973.906784 # Seafloor depth: -1025.147489 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 204.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 122.122811 meters # Minimum depth: 1023.670165 meters looking forward 100.000000 meters along route # Maximum depth: 1023.670165 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.670165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907229; longitude = -117.778163; captureRadius = 10; duration = 244; initialDepth = 971.017284; finalDepth = 973.670165; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2407049999999 # Actual altitude: 51.2407049999999 # Commanded vehicle depth: 973.670165 # Seafloor depth: -1023.670165 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 204.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 122.122211 meters # Minimum depth: 1021.017284 meters looking forward 100.000000 meters along route # Maximum depth: 1021.752584 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.017284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907852; longitude = -117.777087; captureRadius = 10; duration = 244; initialDepth = 967.548171; finalDepth = 971.017284; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7352999999999 # Actual altitude: 50.7352999999999 # Commanded vehicle depth: 971.017284 # Seafloor depth: -1021.752584 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 122.121611 meters # Minimum depth: 1017.548171 meters looking forward 100.000000 meters along route # Maximum depth: 1018.978668 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.548171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908476; longitude = -117.776011; captureRadius = 10; duration = 244; initialDepth = 964.120929; finalDepth = 967.548171; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4304969999999 # Actual altitude: 51.4304969999999 # Commanded vehicle depth: 967.548171 # Seafloor depth: -1018.978668 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 142.675974 meters # Minimum depth: 1014.120929 meters looking forward 100.000000 meters along route # Maximum depth: 1017.032555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.120929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909100; longitude = -117.774934; captureRadius = 10; duration = 285; initialDepth = 963.844053; finalDepth = 964.120929; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.911626 # Actual altitude: 52.911626 # Commanded vehicle depth: 964.120929 # Seafloor depth: -1017.032555 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 211.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.16; MB_Bottom_Detect_Filter_Max_Range = 211.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.565449 meters # Minimum depth: 1013.844053 meters looking forward 100.000000 meters along route # Maximum depth: 1013.844053 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.844053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909829; longitude = -117.773677; captureRadius = 10; duration = 203; initialDepth = 961.258275; finalDepth = 963.844053; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.911626 # Actual altitude: 52.911626 # Commanded vehicle depth: 963.844053 # Seafloor depth: -1013.844053 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 211.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.16; MB_Bottom_Detect_Filter_Max_Range = 211.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 122.119812 meters # Minimum depth: 1011.258275 meters looking forward 100.000000 meters along route # Maximum depth: 1012.614462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.258275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910347; longitude = -117.772782; captureRadius = 10; duration = 244; initialDepth = 959.519570; finalDepth = 961.258275; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.356187 # Actual altitude: 51.356187 # Commanded vehicle depth: 961.258275 # Seafloor depth: -1012.614462 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 129.373799 meters # Minimum depth: 1009.519570 meters looking forward 100.000000 meters along route # Maximum depth: 1010.685356 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.519570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910971; longitude = -117.771705; captureRadius = 10; duration = 258; initialDepth = 959.496265; finalDepth = 959.519570; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.356187 # Actual altitude: 51.356187 # Commanded vehicle depth: 959.51957 # Seafloor depth: -1010.685356 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 114.864025 meters # Minimum depth: 1009.496265 meters looking forward 100.000000 meters along route # Maximum depth: 1009.496265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.496265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911632; longitude = -117.770565; captureRadius = 10; duration = 229; initialDepth = 959.945958; finalDepth = 959.496265; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1657859999999 # Actual altitude: 51.1657859999999 # Commanded vehicle depth: 959.496265 # Seafloor depth: -1009.496265 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 122.118012 meters # Minimum depth: 1009.945958 meters looking forward 100.000000 meters along route # Maximum depth: 1011.027240 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.945958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912219; longitude = -117.769553; captureRadius = 10; duration = 244; initialDepth = 962.483924; finalDepth = 959.945958; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 959.945958 # Seafloor depth: -1009.945958 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 122.117412 meters # Minimum depth: 1012.483924 meters looking forward 100.000000 meters along route # Maximum depth: 1015.164962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.483924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912843; longitude = -117.768476; captureRadius = 10; duration = 244; initialDepth = 965.293578; finalDepth = 962.483924; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 962.483924 # Seafloor depth: -1012.483924 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 122.116813 meters # Minimum depth: 1015.293578 meters looking forward 100.000000 meters along route # Maximum depth: 1015.293578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.293578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913466; longitude = -117.767400; captureRadius = 10; duration = 244; initialDepth = 967.548414; finalDepth = 965.293578; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 965.293578 # Seafloor depth: -1015.293578 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 122.116213 meters # Minimum depth: 1017.548414 meters looking forward 100.000000 meters along route # Maximum depth: 1018.057224 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.548414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914090; longitude = -117.766324; captureRadius = 10; duration = 244; initialDepth = 968.977545; finalDepth = 967.548414; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 967.548414 # Seafloor depth: -1017.548414 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 122.115613 meters # Minimum depth: 1018.977545 meters looking forward 100.000000 meters along route # Maximum depth: 1019.597900 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.977545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914714; longitude = -117.765248; captureRadius = 10; duration = 244; initialDepth = 969.780411; finalDepth = 968.977545; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 968.977545 # Seafloor depth: -1018.977545 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 122.115014 meters # Minimum depth: 1019.780411 meters looking forward 100.000000 meters along route # Maximum depth: 1019.780411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.780411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915338; longitude = -117.764171; captureRadius = 10; duration = 244; initialDepth = 973.750371; finalDepth = 969.780411; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 969.780411 # Seafloor depth: -1019.780411 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 122.114414 meters # Minimum depth: 1023.750371 meters looking forward 100.000000 meters along route # Maximum depth: 1025.516457 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.750371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915962; longitude = -117.763095; captureRadius = 10; duration = 244; initialDepth = 982.649608; finalDepth = 973.750371; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 973.750371 # Seafloor depth: -1023.750371 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 122.113814 meters # Minimum depth: 1032.649608 meters looking forward 100.000000 meters along route # Maximum depth: 1035.312973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.649608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916585; longitude = -117.762019; captureRadius = 10; duration = 244; initialDepth = 980.973922; finalDepth = 982.649608; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 982.649608 # Seafloor depth: -1032.649608 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 143.875903 meters # Minimum depth: 1030.973922 meters looking forward 100.000000 meters along route # Maximum depth: 1035.664119 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.973922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917209; longitude = -117.760942; captureRadius = 10; duration = 287; initialDepth = 979.990590; finalDepth = 980.973922; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6901970000001 # Actual altitude: 54.6901970000001 # Commanded vehicle depth: 980.973922 # Seafloor depth: -1035.664119 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 218.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.88; MB_Bottom_Detect_Filter_Max_Range = 218.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.349927 meters # Minimum depth: 1029.990590 meters looking forward 100.000000 meters along route # Maximum depth: 1029.990590 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.990590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917944; longitude = -117.759674; captureRadius = 10; duration = 200; initialDepth = 971.434966; finalDepth = 979.990590; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6901970000001 # Actual altitude: 54.6901970000001 # Commanded vehicle depth: 979.99059 # Seafloor depth: -1029.990590 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 218.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.88; MB_Bottom_Detect_Filter_Max_Range = 218.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 122.112015 meters # Minimum depth: 1021.434966 meters looking forward 100.000000 meters along route # Maximum depth: 1026.317680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.434966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918457; longitude = -117.758790; captureRadius = 10; duration = 244; initialDepth = 962.734659; finalDepth = 971.434966; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8827140000001 # Actual altitude: 54.8827140000001 # Commanded vehicle depth: 971.434966 # Seafloor depth: -1026.317680 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 219.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.95; MB_Bottom_Detect_Filter_Max_Range = 219.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 130.574562 meters # Minimum depth: 1012.734659 meters looking forward 100.000000 meters along route # Maximum depth: 1018.471552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.734659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919080; longitude = -117.757713; captureRadius = 10; duration = 261; initialDepth = 962.335843; finalDepth = 962.734659; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.736893 # Actual altitude: 55.736893 # Commanded vehicle depth: 962.734659 # Seafloor depth: -1018.471552 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 222.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.29; MB_Bottom_Detect_Filter_Max_Range = 222.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 113.647671 meters # Minimum depth: 1012.335843 meters looking forward 100.000000 meters along route # Maximum depth: 1012.335843 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.335843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919748; longitude = -117.756563; captureRadius = 10; duration = 227; initialDepth = 955.603044; finalDepth = 962.335843; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.736893 # Actual altitude: 55.736893 # Commanded vehicle depth: 962.335843 # Seafloor depth: -1012.335843 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 222.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.29; MB_Bottom_Detect_Filter_Max_Range = 222.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 122.110217 meters # Minimum depth: 1005.603044 meters looking forward 100.000000 meters along route # Maximum depth: 1006.890133 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.603044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920328; longitude = -117.755561; captureRadius = 10; duration = 244; initialDepth = 947.648520; finalDepth = 955.603044; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.287089 # Actual altitude: 51.287089 # Commanded vehicle depth: 955.603044 # Seafloor depth: -1006.890133 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 122.109618 meters # Minimum depth: 997.648520 meters looking forward 100.000000 meters along route # Maximum depth: 1003.988347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.648520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920952; longitude = -117.754485; captureRadius = 10; duration = 244; initialDepth = 947.408612; finalDepth = 947.648520; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.339827 # Actual altitude: 56.339827 # Commanded vehicle depth: 947.64852 # Seafloor depth: -1003.988347 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 225.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.54; MB_Bottom_Detect_Filter_Max_Range = 225.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 122.109018 meters # Minimum depth: 997.408612 meters looking forward 100.000000 meters along route # Maximum depth: 997.408612 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.408612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921576; longitude = -117.753408; captureRadius = 10; duration = 244; initialDepth = 944.514791; finalDepth = 947.408612; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.339827 # Actual altitude: 56.339827 # Commanded vehicle depth: 947.408612 # Seafloor depth: -997.408612 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 225.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.54; MB_Bottom_Detect_Filter_Max_Range = 225.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 122.108418 meters # Minimum depth: 994.514791 meters looking forward 100.000000 meters along route # Maximum depth: 994.547691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.514791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922199; longitude = -117.752332; captureRadius = 10; duration = 244; initialDepth = 943.915239; finalDepth = 944.514791; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 944.514791 # Seafloor depth: -994.514791 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 162.810293 meters # Minimum depth: 993.915239 meters looking forward 100.000000 meters along route # Maximum depth: 994.360592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.915239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922823; longitude = -117.751256; captureRadius = 10; duration = 325; initialDepth = 940.779282; finalDepth = 943.915239; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.418958 # Actual altitude: 50.418958 # Commanded vehicle depth: 943.915239 # Seafloor depth: -994.334197 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 201.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 150.000000 meters # Minimum depth: 990.779282 meters looking forward 100.000000 meters along route # Maximum depth: 992.115057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.779282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923655; longitude = -117.749821; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 940.914459; finalDepth = 940.779282; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50.418958 # Actual altitude: 50.418958 # Commanded vehicle depth: 940.779282 # Seafloor depth: -990.779282 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 201.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 143.732912 meters # Minimum depth: 990.914459 meters looking forward 100.000000 meters along route # Maximum depth: 990.914459 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.914459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922540; longitude = -117.748912; captureRadius = 10; duration = 287; # abortOnTimeout = True; initialDepth = 941.700759; finalDepth = 940.914459; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 940.914459 # Seafloor depth: -990.914459 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 122.109098 meters # Minimum depth: 991.700759 meters looking forward 100.000000 meters along route # Maximum depth: 994.881795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.700759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921805; longitude = -117.750179; captureRadius = 10; duration = 244; initialDepth = 948.878593; finalDepth = 941.700759; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 941.700759 # Seafloor depth: -991.700759 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.109696 meters # Minimum depth: 998.878593 meters looking forward 100.000000 meters along route # Maximum depth: 1001.253371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.878593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921182; longitude = -117.751256; captureRadius = 10; duration = 244; initialDepth = 949.017001; finalDepth = 948.878593; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.374778 # Actual altitude: 52.374778 # Commanded vehicle depth: 948.878593 # Seafloor depth: -1001.253371 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.95; MB_Bottom_Detect_Filter_Max_Range = 209.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.110296 meters # Minimum depth: 999.017001 meters looking forward 100.000000 meters along route # Maximum depth: 999.017001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.017001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920558; longitude = -117.752332; captureRadius = 10; duration = 244; initialDepth = 955.509371; finalDepth = 949.017001; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.374778 # Actual altitude: 52.374778 # Commanded vehicle depth: 949.017001 # Seafloor depth: -999.017001 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.95; MB_Bottom_Detect_Filter_Max_Range = 209.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.110896 meters # Minimum depth: 1005.509371 meters looking forward 100.000000 meters along route # Maximum depth: 1006.155109 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.509371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919934; longitude = -117.753408; captureRadius = 10; duration = 244; initialDepth = 957.879585; finalDepth = 955.509371; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 955.509371 # Seafloor depth: -1005.509371 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.111495 meters # Minimum depth: 1007.879585 meters looking forward 100.000000 meters along route # Maximum depth: 1011.374350 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.879585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919310; longitude = -117.754485; captureRadius = 10; duration = 244; initialDepth = 962.786360; finalDepth = 957.879585; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 957.879585 # Seafloor depth: -1007.879585 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.112094 meters # Minimum depth: 1012.786360 meters looking forward 100.000000 meters along route # Maximum depth: 1012.786360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.786360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918686; longitude = -117.755561; captureRadius = 10; duration = 244; initialDepth = 969.377901; finalDepth = 962.786360; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 962.78636 # Seafloor depth: -1012.786360 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.112694 meters # Minimum depth: 1019.377901 meters looking forward 100.000000 meters along route # Maximum depth: 1020.426125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.377901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918063; longitude = -117.756637; captureRadius = 10; duration = 244; initialDepth = 978.713054; finalDepth = 969.377901; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 969.377901 # Seafloor depth: -1019.377901 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.113293 meters # Minimum depth: 1028.713054 meters looking forward 100.000000 meters along route # Maximum depth: 1034.856642 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.713054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917439; longitude = -117.757713; captureRadius = 10; duration = 244; initialDepth = 986.484788; finalDepth = 978.713054; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 978.713054 # Seafloor depth: -1028.713054 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 132.026553 meters # Minimum depth: 1036.484788 meters looking forward 100.000000 meters along route # Maximum depth: 1037.262989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.484788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916815; longitude = -117.758790; captureRadius = 10; duration = 264; initialDepth = 987.171373; finalDepth = 986.484788; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 986.484788 # Seafloor depth: -1036.484788 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 112.201833 meters # Minimum depth: 1037.171373 meters looking forward 100.000000 meters along route # Maximum depth: 1037.171373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.171373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916141; longitude = -117.759953; captureRadius = 10; duration = 224; initialDepth = 982.054233; finalDepth = 987.171373; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 987.171373 # Seafloor depth: -1037.171373 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.115092 meters # Minimum depth: 1032.054233 meters looking forward 100.000000 meters along route # Maximum depth: 1034.358480 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.054233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915568; longitude = -117.760942; captureRadius = 10; duration = 244; initialDepth = 976.425538; finalDepth = 982.054233; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.304247 # Actual altitude: 52.304247 # Commanded vehicle depth: 982.054233 # Seafloor depth: -1034.358480 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.92; MB_Bottom_Detect_Filter_Max_Range = 209.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.115692 meters # Minimum depth: 1026.425538 meters looking forward 100.000000 meters along route # Maximum depth: 1030.867602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.425538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914944; longitude = -117.762019; captureRadius = 10; duration = 244; initialDepth = 976.323720; finalDepth = 976.425538; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4420640000001 # Actual altitude: 54.4420640000001 # Commanded vehicle depth: 976.425538 # Seafloor depth: -1030.867602 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 217.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.78; MB_Bottom_Detect_Filter_Max_Range = 217.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.116291 meters # Minimum depth: 1026.323720 meters looking forward 100.000000 meters along route # Maximum depth: 1026.323720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.323720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914320; longitude = -117.763095; captureRadius = 10; duration = 244; initialDepth = 972.566146; finalDepth = 976.323720; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4420640000001 # Actual altitude: 54.4420640000001 # Commanded vehicle depth: 976.32372 # Seafloor depth: -1026.323720 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 217.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.78; MB_Bottom_Detect_Filter_Max_Range = 217.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.116891 meters # Minimum depth: 1022.566146 meters looking forward 100.000000 meters along route # Maximum depth: 1023.622023 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.566146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913696; longitude = -117.764171; captureRadius = 10; duration = 244; initialDepth = 969.754635; finalDepth = 972.566146; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.055877 # Actual altitude: 51.055877 # Commanded vehicle depth: 972.566146 # Seafloor depth: -1023.622023 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.117491 meters # Minimum depth: 1019.754635 meters looking forward 100.000000 meters along route # Maximum depth: 1021.075148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.754635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913072; longitude = -117.765248; captureRadius = 10; duration = 244; initialDepth = 969.536934; finalDepth = 969.754635; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.320513 # Actual altitude: 51.320513 # Commanded vehicle depth: 969.754635 # Seafloor depth: -1021.075148 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.118090 meters # Minimum depth: 1019.536934 meters looking forward 100.000000 meters along route # Maximum depth: 1019.536934 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.536934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912449; longitude = -117.766324; captureRadius = 10; duration = 244; initialDepth = 965.610833; finalDepth = 969.536934; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.320513 # Actual altitude: 51.320513 # Commanded vehicle depth: 969.536934 # Seafloor depth: -1019.536934 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.118690 meters # Minimum depth: 1015.610833 meters looking forward 100.000000 meters along route # Maximum depth: 1016.757096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.610833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911825; longitude = -117.767400; captureRadius = 10; duration = 244; initialDepth = 963.815322; finalDepth = 965.610833; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1462630000001 # Actual altitude: 51.1462630000001 # Commanded vehicle depth: 965.610833 # Seafloor depth: -1016.757096 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.119290 meters # Minimum depth: 1013.815322 meters looking forward 100.000000 meters along route # Maximum depth: 1013.927600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.815322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911201; longitude = -117.768476; captureRadius = 10; duration = 244; initialDepth = 963.862793; finalDepth = 963.815322; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1462630000001 # Actual altitude: 51.1462630000001 # Commanded vehicle depth: 963.815322 # Seafloor depth: -1013.927600 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.119889 meters # Minimum depth: 1013.862793 meters looking forward 100.000000 meters along route # Maximum depth: 1013.862793 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.862793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910577; longitude = -117.769553; captureRadius = 10; duration = 244; initialDepth = 964.730184; finalDepth = 963.862793; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1122779999999 # Actual altitude: 50.1122779999999 # Commanded vehicle depth: 963.862793 # Seafloor depth: -1013.862793 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.04; MB_Bottom_Detect_Filter_Max_Range = 200.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.120490 meters # Minimum depth: 1014.730184 meters looking forward 100.000000 meters along route # Maximum depth: 1015.049214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.730184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909953; longitude = -117.770629; captureRadius = 10; duration = 244; initialDepth = 966.608448; finalDepth = 964.730184; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 964.730184 # Seafloor depth: -1014.730184 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.121089 meters # Minimum depth: 1016.608448 meters looking forward 100.000000 meters along route # Maximum depth: 1017.875230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.608448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909330; longitude = -117.771705; captureRadius = 10; duration = 244; initialDepth = 968.482763; finalDepth = 966.608448; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 966.608448 # Seafloor depth: -1016.608448 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 133.253985 meters # Minimum depth: 1018.482763 meters looking forward 100.000000 meters along route # Maximum depth: 1020.659470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.482763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908706; longitude = -117.772782; captureRadius = 10; duration = 266; initialDepth = 970.833491; finalDepth = 968.482763; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 968.482763 # Seafloor depth: -1018.482763 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 110.989993 meters # Minimum depth: 1020.833491 meters looking forward 100.000000 meters along route # Maximum depth: 1020.833491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.833491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908025; longitude = -117.773956; captureRadius = 10; duration = 221; initialDepth = 972.657291; finalDepth = 970.833491; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 970.833491 # Seafloor depth: -1020.833491 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.122888 meters # Minimum depth: 1022.657291 meters looking forward 100.000000 meters along route # Maximum depth: 1024.613521 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.657291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907458; longitude = -117.774934; captureRadius = 10; duration = 244; initialDepth = 975.764361; finalDepth = 972.657291; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 972.657291 # Seafloor depth: -1022.657291 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.123489 meters # Minimum depth: 1025.764361 meters looking forward 100.000000 meters along route # Maximum depth: 1027.777864 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.764361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906835; longitude = -117.776011; captureRadius = 10; duration = 244; initialDepth = 977.824984; finalDepth = 975.764361; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 975.764361 # Seafloor depth: -1025.764361 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.124089 meters # Minimum depth: 1027.824984 meters looking forward 100.000000 meters along route # Maximum depth: 1027.824984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.824984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906211; longitude = -117.777087; captureRadius = 10; duration = 244; initialDepth = 979.429276; finalDepth = 977.824984; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 977.824984 # Seafloor depth: -1027.824984 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.124688 meters # Minimum depth: 1029.429276 meters looking forward 100.000000 meters along route # Maximum depth: 1029.999486 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.429276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905587; longitude = -117.778163; captureRadius = 10; duration = 244; initialDepth = 976.744626; finalDepth = 979.429276; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 979.429276 # Seafloor depth: -1029.429276 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.125289 meters # Minimum depth: 1026.744626 meters looking forward 100.000000 meters along route # Maximum depth: 1030.238051 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.744626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904963; longitude = -117.779239; captureRadius = 10; duration = 244; initialDepth = 976.397951; finalDepth = 976.744626; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4934250000001 # Actual altitude: 53.4934250000001 # Commanded vehicle depth: 976.744626 # Seafloor depth: -1030.238051 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 213.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.40; MB_Bottom_Detect_Filter_Max_Range = 213.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.125888 meters # Minimum depth: 1026.397951 meters looking forward 100.000000 meters along route # Maximum depth: 1026.397951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.397951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904339; longitude = -117.780316; captureRadius = 10; duration = 244; initialDepth = 969.895447; finalDepth = 976.397951; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4934250000001 # Actual altitude: 53.4934250000001 # Commanded vehicle depth: 976.397951 # Seafloor depth: -1026.397951 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 213.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.40; MB_Bottom_Detect_Filter_Max_Range = 213.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.126489 meters # Minimum depth: 1019.895447 meters looking forward 100.000000 meters along route # Maximum depth: 1023.878266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.895447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903716; longitude = -117.781392; captureRadius = 10; duration = 244; initialDepth = 982.125451; finalDepth = 969.895447; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 969.895447 # Seafloor depth: -1019.895447 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.127088 meters # Minimum depth: 1032.125451 meters looking forward 100.000000 meters along route # Maximum depth: 1038.346635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.125451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903092; longitude = -117.782468; captureRadius = 10; duration = 244; initialDepth = 989.818416; finalDepth = 982.125451; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 982.125451 # Seafloor depth: -1032.125451 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.127689 meters # Minimum depth: 1039.818416 meters looking forward 100.000000 meters along route # Maximum depth: 1039.818416 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.818416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902468; longitude = -117.783545; captureRadius = 10; duration = 244; initialDepth = 994.578124; finalDepth = 989.818416; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 989.818416 # Seafloor depth: -1039.818416 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.128288 meters # Minimum depth: 1044.578124 meters looking forward 100.000000 meters along route # Maximum depth: 1045.155153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.578124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901844; longitude = -117.784621; captureRadius = 10; duration = 244; initialDepth = 991.002204; finalDepth = 994.578124; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 994.578124 # Seafloor depth: -1044.578124 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.128889 meters # Minimum depth: 1041.002204 meters looking forward 100.000000 meters along route # Maximum depth: 1045.510837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.002204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901220; longitude = -117.785697; captureRadius = 10; duration = 244; initialDepth = 989.042673; finalDepth = 991.002204; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5086330000001 # Actual altitude: 54.5086330000001 # Commanded vehicle depth: 991.002204 # Seafloor depth: -1045.510837 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 218.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.80; MB_Bottom_Detect_Filter_Max_Range = 218.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 134.481579 meters # Minimum depth: 1039.042673 meters looking forward 100.000000 meters along route # Maximum depth: 1040.360273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.042673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900597; longitude = -117.786773; captureRadius = 10; duration = 268; initialDepth = 990.675703; finalDepth = 989.042673; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5086330000001 # Actual altitude: 54.5086330000001 # Commanded vehicle depth: 989.042673 # Seafloor depth: -1039.042673 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 218.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.80; MB_Bottom_Detect_Filter_Max_Range = 218.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 109.777999 meters # Minimum depth: 1040.675703 meters looking forward 100.000000 meters along route # Maximum depth: 1040.675703 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.675703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899910; longitude = -117.787959; captureRadius = 10; duration = 219; initialDepth = 992.420179; finalDepth = 990.675703; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 990.675703 # Seafloor depth: -1040.675703 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.130689 meters # Minimum depth: 1042.420179 meters looking forward 100.000000 meters along route # Maximum depth: 1043.056012 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.420179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899349; longitude = -117.788926; captureRadius = 10; duration = 244; initialDepth = 993.794843; finalDepth = 992.420179; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 992.420179 # Seafloor depth: -1042.420179 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.131290 meters # Minimum depth: 1043.794843 meters looking forward 100.000000 meters along route # Maximum depth: 1045.672852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.794843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898725; longitude = -117.790002; captureRadius = 10; duration = 244; initialDepth = 995.699279; finalDepth = 993.794843; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 993.794843 # Seafloor depth: -1043.794843 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.131890 meters # Minimum depth: 1045.699279 meters looking forward 100.000000 meters along route # Maximum depth: 1045.699279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.699279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898102; longitude = -117.791079; captureRadius = 10; duration = 244; initialDepth = 998.807040; finalDepth = 995.699279; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 995.699279 # Seafloor depth: -1045.699279 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.132490 meters # Minimum depth: 1048.807040 meters looking forward 100.000000 meters along route # Maximum depth: 1051.007650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.807040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897478; longitude = -117.792155; captureRadius = 10; duration = 244; initialDepth = 1002.491028; finalDepth = 998.807040; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 998.80704 # Seafloor depth: -1048.807040 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.133090 meters # Minimum depth: 1052.491028 meters looking forward 100.000000 meters along route # Maximum depth: 1053.030520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.491028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896854; longitude = -117.793231; captureRadius = 10; duration = 244; initialDepth = 1002.181056; finalDepth = 1002.491028; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5394920000001 # Actual altitude: 50.5394920000001 # Commanded vehicle depth: 1002.491028 # Seafloor depth: -1053.030520 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.133690 meters # Minimum depth: 1052.181056 meters looking forward 100.000000 meters along route # Maximum depth: 1052.181056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.181056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896230; longitude = -117.794308; captureRadius = 10; duration = 244; initialDepth = 1002.225116; finalDepth = 1002.181056; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5394920000001 # Actual altitude: 50.5394920000001 # Commanded vehicle depth: 1002.181056 # Seafloor depth: -1052.181056 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.134291 meters # Minimum depth: 1052.225116 meters looking forward 100.000000 meters along route # Maximum depth: 1052.494227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.225116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895606; longitude = -117.795384; captureRadius = 10; duration = 244; initialDepth = 1002.444709; finalDepth = 1002.225116; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2691109999998 # Actual altitude: 50.2691109999998 # Commanded vehicle depth: 1002.225116 # Seafloor depth: -1052.494227 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.11; MB_Bottom_Detect_Filter_Max_Range = 201.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 122.134891 meters # Minimum depth: 1052.444709 meters looking forward 100.000000 meters along route # Maximum depth: 1052.534669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.444709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894983; longitude = -117.796460; captureRadius = 10; duration = 244; initialDepth = 1001.612506; finalDepth = 1002.444709; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2691109999998 # Actual altitude: 50.2691109999998 # Commanded vehicle depth: 1002.444709 # Seafloor depth: -1052.444709 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.11; MB_Bottom_Detect_Filter_Max_Range = 201.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 149.007064 meters # Minimum depth: 1051.612506 meters looking forward 100.000000 meters along route # Maximum depth: 1052.355573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.612506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894359; longitude = -117.797536; captureRadius = 10; duration = 298; initialDepth = 1001.607002; finalDepth = 1001.612506; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7430670000001 # Actual altitude: 50.7430670000001 # Commanded vehicle depth: 1001.612506 # Seafloor depth: -1052.355573 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 202.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 176.554644 meters # Minimum depth: 1051.607002 meters looking forward 100.000000 meters along route # Maximum depth: 1052.100323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.607002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893598; longitude = -117.798850; captureRadius = 10; duration = 353; initialDepth = 1002.681738; finalDepth = 1001.607002; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7430670000001 # Actual altitude: 50.7430670000001 # Commanded vehicle depth: 1001.607002 # Seafloor depth: -1051.607002 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 202.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.604243 meters # Minimum depth: 1052.681738 meters looking forward 100.000000 meters along route # Maximum depth: 1052.940476 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.681738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892696; longitude = -117.800405; captureRadius = 10; duration = 201; initialDepth = 1002.185852; finalDepth = 1002.681738; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1002.681738 # Seafloor depth: -1052.681738 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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 150.000000 meters # Minimum depth: 1052.185852 meters looking forward 100.000000 meters along route # Maximum depth: 1052.783591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.185852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892182; longitude = -117.801292; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 1001.316406; finalDepth = 1002.185852; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1002.185852 # Seafloor depth: -1052.185852 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 78.806038 meters # Minimum depth: 1051.316406 meters looking forward 100.000000 meters along route # Maximum depth: 1051.316406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.316406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891067; longitude = -117.800384; captureRadius = 10; duration = 157; # abortOnTimeout = True; initialDepth = 1000.565042; finalDepth = 1001.316406; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1001.316406 # Seafloor depth: -1051.316406 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 122.137369 meters # Minimum depth: 1050.565042 meters looking forward 100.000000 meters along route # Maximum depth: 1051.135284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.565042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891470; longitude = -117.799689; captureRadius = 10; duration = 244; initialDepth = 1001.448610; finalDepth = 1000.565042; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1000.565042 # Seafloor depth: -1050.565042 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.136769 meters # Minimum depth: 1051.448610 meters looking forward 100.000000 meters along route # Maximum depth: 1052.325176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.448610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892094; longitude = -117.798613; captureRadius = 10; duration = 244; initialDepth = 1002.348192; finalDepth = 1001.448610; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1001.44861 # Seafloor depth: -1051.448610 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.136168 meters # Minimum depth: 1052.348192 meters looking forward 100.000000 meters along route # Maximum depth: 1052.348192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.348192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892717; longitude = -117.797536; captureRadius = 10; duration = 244; initialDepth = 1002.625143; finalDepth = 1002.348192; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1002.348192 # Seafloor depth: -1052.348192 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.135567 meters # Minimum depth: 1052.625143 meters looking forward 100.000000 meters along route # Maximum depth: 1053.028272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.625143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893341; longitude = -117.796460; captureRadius = 10; duration = 244; initialDepth = 1002.838563; finalDepth = 1002.625143; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1002.625143 # Seafloor depth: -1052.625143 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.134968 meters # Minimum depth: 1052.838563 meters looking forward 100.000000 meters along route # Maximum depth: 1053.146751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.838563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893965; longitude = -117.795384; captureRadius = 10; duration = 244; initialDepth = 1002.608896; finalDepth = 1002.838563; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.308188 # Actual altitude: 50.308188 # Commanded vehicle depth: 1002.838563 # Seafloor depth: -1053.146751 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.134367 meters # Minimum depth: 1052.608896 meters looking forward 100.000000 meters along route # Maximum depth: 1052.608896 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.608896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894589; longitude = -117.794308; captureRadius = 10; duration = 244; initialDepth = 1002.787226; finalDepth = 1002.608896; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.308188 # Actual altitude: 50.308188 # Commanded vehicle depth: 1002.608896 # Seafloor depth: -1052.608896 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.133767 meters # Minimum depth: 1052.787226 meters looking forward 100.000000 meters along route # Maximum depth: 1053.025717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.787226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895213; longitude = -117.793231; captureRadius = 10; duration = 244; initialDepth = 1002.086736; finalDepth = 1002.787226; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1002.787226 # Seafloor depth: -1052.787226 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.133167 meters # Minimum depth: 1052.086736 meters looking forward 100.000000 meters along route # Maximum depth: 1053.422376 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.086736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895836; longitude = -117.792155; captureRadius = 10; duration = 244; initialDepth = 1001.241064; finalDepth = 1002.086736; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.33564 # Actual altitude: 51.33564 # Commanded vehicle depth: 1002.086736 # Seafloor depth: -1053.422376 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.132567 meters # Minimum depth: 1051.241064 meters looking forward 100.000000 meters along route # Maximum depth: 1051.241064 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.241064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896460; longitude = -117.791079; captureRadius = 10; duration = 244; initialDepth = 998.194990; finalDepth = 1001.241064; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.33564 # Actual altitude: 51.33564 # Commanded vehicle depth: 1001.241064 # Seafloor depth: -1051.241064 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.131966 meters # Minimum depth: 1048.194990 meters looking forward 100.000000 meters along route # Maximum depth: 1048.706155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.194990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897084; longitude = -117.790002; captureRadius = 10; duration = 244; initialDepth = 996.438277; finalDepth = 998.194990; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5111650000001 # Actual altitude: 50.5111650000001 # Commanded vehicle depth: 998.19499 # Seafloor depth: -1048.706155 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 202.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.131366 meters # Minimum depth: 1046.438277 meters looking forward 100.000000 meters along route # Maximum depth: 1046.655806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.438277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897708; longitude = -117.788926; captureRadius = 10; duration = 244; initialDepth = 995.348847; finalDepth = 996.438277; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5111650000001 # Actual altitude: 50.5111650000001 # Commanded vehicle depth: 996.438277 # Seafloor depth: -1046.655806 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 202.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 132.492934 meters # Minimum depth: 1045.348847 meters looking forward 100.000000 meters along route # Maximum depth: 1045.903494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.348847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898331; longitude = -117.787850; captureRadius = 10; duration = 264; initialDepth = 995.134510; finalDepth = 995.348847; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5546469999999 # Actual altitude: 50.5546469999999 # Commanded vehicle depth: 995.348847 # Seafloor depth: -1045.903494 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 111.767998 meters # Minimum depth: 1045.134510 meters looking forward 100.000000 meters along route # Maximum depth: 1045.134510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.134510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899008; longitude = -117.786682; captureRadius = 10; duration = 223; initialDepth = 993.635695; finalDepth = 995.134510; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5546469999999 # Actual altitude: 50.5546469999999 # Commanded vehicle depth: 995.13451 # Seafloor depth: -1045.134510 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.129566 meters # Minimum depth: 1043.635695 meters looking forward 100.000000 meters along route # Maximum depth: 1046.509126 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.635695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899579; longitude = -117.785697; captureRadius = 10; duration = 244; initialDepth = 996.136712; finalDepth = 993.635695; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 993.635695 # Seafloor depth: -1043.635695 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.128966 meters # Minimum depth: 1046.136712 meters looking forward 100.000000 meters along route # Maximum depth: 1047.586470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.136712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900203; longitude = -117.784621; captureRadius = 10; duration = 244; initialDepth = 996.090620; finalDepth = 996.136712; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.449758 # Actual altitude: 51.449758 # Commanded vehicle depth: 996.136712 # Seafloor depth: -1047.586470 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.128366 meters # Minimum depth: 1046.090620 meters looking forward 100.000000 meters along route # Maximum depth: 1046.090620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.090620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900827; longitude = -117.783545; captureRadius = 10; duration = 244; initialDepth = 990.085574; finalDepth = 996.090620; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.449758 # Actual altitude: 51.449758 # Commanded vehicle depth: 996.09062 # Seafloor depth: -1046.090620 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.127766 meters # Minimum depth: 1040.085574 meters looking forward 100.000000 meters along route # Maximum depth: 1041.683209 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.085574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901450; longitude = -117.782468; captureRadius = 10; duration = 244; initialDepth = 984.714554; finalDepth = 990.085574; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5976350000001 # Actual altitude: 51.5976350000001 # Commanded vehicle depth: 990.085574 # Seafloor depth: -1041.683209 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.127165 meters # Minimum depth: 1034.714554 meters looking forward 100.000000 meters along route # Maximum depth: 1038.506637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.714554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902074; longitude = -117.781392; captureRadius = 10; duration = 244; initialDepth = 984.176292; finalDepth = 984.714554; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.792083 # Actual altitude: 53.792083 # Commanded vehicle depth: 984.714554 # Seafloor depth: -1038.506637 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 215.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.52; MB_Bottom_Detect_Filter_Max_Range = 215.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.126566 meters # Minimum depth: 1034.176292 meters looking forward 100.000000 meters along route # Maximum depth: 1034.176292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.176292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902698; longitude = -117.780316; captureRadius = 10; duration = 244; initialDepth = 980.362764; finalDepth = 984.176292; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.792083 # Actual altitude: 53.792083 # Commanded vehicle depth: 984.176292 # Seafloor depth: -1034.176292 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 215.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.52; MB_Bottom_Detect_Filter_Max_Range = 215.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.125966 meters # Minimum depth: 1030.362764 meters looking forward 100.000000 meters along route # Maximum depth: 1030.378191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.362764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903322; longitude = -117.779239; captureRadius = 10; duration = 244; initialDepth = 981.872976; finalDepth = 980.362764; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 980.362764 # Seafloor depth: -1030.362764 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.125366 meters # Minimum depth: 1031.872976 meters looking forward 100.000000 meters along route # Maximum depth: 1033.776432 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.872976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903945; longitude = -117.778163; captureRadius = 10; duration = 244; initialDepth = 983.658372; finalDepth = 981.872976; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 981.872976 # Seafloor depth: -1031.872976 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.124766 meters # Minimum depth: 1033.658372 meters looking forward 100.000000 meters along route # Maximum depth: 1033.658372 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.658372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904569; longitude = -117.777087; captureRadius = 10; duration = 244; initialDepth = 981.101791; finalDepth = 983.658372; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 983.658372 # Seafloor depth: -1033.658372 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.124166 meters # Minimum depth: 1031.101791 meters looking forward 100.000000 meters along route # Maximum depth: 1031.481901 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.101791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905193; longitude = -117.776011; captureRadius = 10; duration = 244; initialDepth = 978.538667; finalDepth = 981.101791; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3801100000001 # Actual altitude: 50.3801100000001 # Commanded vehicle depth: 981.101791 # Seafloor depth: -1031.481901 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.123566 meters # Minimum depth: 1028.538667 meters looking forward 100.000000 meters along route # Maximum depth: 1029.656838 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.538667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905817; longitude = -117.774934; captureRadius = 10; duration = 244; initialDepth = 975.752153; finalDepth = 978.538667; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1181710000001 # Actual altitude: 51.1181710000001 # Commanded vehicle depth: 978.538667 # Seafloor depth: -1029.656838 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 204.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 133.713356 meters # Minimum depth: 1025.752153 meters looking forward 100.000000 meters along route # Maximum depth: 1027.710862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.752153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906441; longitude = -117.773858; captureRadius = 10; duration = 267; initialDepth = 975.659593; finalDepth = 975.752153; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.958709 # Actual altitude: 51.958709 # Commanded vehicle depth: 975.752153 # Seafloor depth: -1027.710862 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 110.531978 meters # Minimum depth: 1025.659593 meters looking forward 100.000000 meters along route # Maximum depth: 1025.659593 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.659593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907124; longitude = -117.772679; captureRadius = 10; duration = 221; initialDepth = 973.083725; finalDepth = 975.659593; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.958709 # Actual altitude: 51.958709 # Commanded vehicle depth: 975.659593 # Seafloor depth: -1025.659593 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.121766 meters # Minimum depth: 1023.083725 meters looking forward 100.000000 meters along route # Maximum depth: 1024.022941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.083725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907688; longitude = -117.771705; captureRadius = 10; duration = 244; initialDepth = 970.996336; finalDepth = 973.083725; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.939216 # Actual altitude: 50.939216 # Commanded vehicle depth: 973.083725 # Seafloor depth: -1024.022941 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.121168 meters # Minimum depth: 1020.996336 meters looking forward 100.000000 meters along route # Maximum depth: 1022.380257 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.996336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908312; longitude = -117.770629; captureRadius = 10; duration = 244; initialDepth = 970.974790; finalDepth = 970.996336; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.383921 # Actual altitude: 51.383921 # Commanded vehicle depth: 970.996336 # Seafloor depth: -1022.380257 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.120567 meters # Minimum depth: 1020.974790 meters looking forward 100.000000 meters along route # Maximum depth: 1020.974790 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.974790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908936; longitude = -117.769553; captureRadius = 10; duration = 244; initialDepth = 968.968335; finalDepth = 970.974790; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.383921 # Actual altitude: 51.383921 # Commanded vehicle depth: 970.97479 # Seafloor depth: -1020.974790 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.119968 meters # Minimum depth: 1018.968335 meters looking forward 100.000000 meters along route # Maximum depth: 1019.474660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.968335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909559; longitude = -117.768476; captureRadius = 10; duration = 244; initialDepth = 968.860363; finalDepth = 968.968335; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5063249999999 # Actual altitude: 50.5063249999999 # Commanded vehicle depth: 968.968335 # Seafloor depth: -1019.474660 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 202.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.119367 meters # Minimum depth: 1018.860363 meters looking forward 100.000000 meters along route # Maximum depth: 1021.404451 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.860363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910183; longitude = -117.767400; captureRadius = 10; duration = 244; initialDepth = 971.818099; finalDepth = 968.860363; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5063249999999 # Actual altitude: 50.5063249999999 # Commanded vehicle depth: 968.860363 # Seafloor depth: -1018.860363 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 202.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.118769 meters # Minimum depth: 1021.818099 meters looking forward 100.000000 meters along route # Maximum depth: 1021.818099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.818099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910807; longitude = -117.766324; captureRadius = 10; duration = 244; initialDepth = 973.214676; finalDepth = 971.818099; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 971.818099 # Seafloor depth: -1021.818099 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.118168 meters # Minimum depth: 1023.214676 meters looking forward 100.000000 meters along route # Maximum depth: 1024.298966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.214676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911431; longitude = -117.765248; captureRadius = 10; duration = 244; initialDepth = 976.617273; finalDepth = 973.214676; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 973.214676 # Seafloor depth: -1023.214676 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.117569 meters # Minimum depth: 1026.617273 meters looking forward 100.000000 meters along route # Maximum depth: 1030.944440 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.617273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912055; longitude = -117.764171; captureRadius = 10; duration = 244; initialDepth = 982.028537; finalDepth = 976.617273; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 976.617273 # Seafloor depth: -1026.617273 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.116970 meters # Minimum depth: 1032.028537 meters looking forward 100.000000 meters along route # Maximum depth: 1032.028537 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.028537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912678; longitude = -117.763095; captureRadius = 10; duration = 244; initialDepth = 986.178833; finalDepth = 982.028537; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 982.028537 # Seafloor depth: -1032.028537 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.116370 meters # Minimum depth: 1036.178833 meters looking forward 100.000000 meters along route # Maximum depth: 1037.062062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.178833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913302; longitude = -117.762019; captureRadius = 10; duration = 244; initialDepth = 989.125312; finalDepth = 986.178833; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 986.178833 # Seafloor depth: -1036.178833 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.115770 meters # Minimum depth: 1039.125312 meters looking forward 100.000000 meters along route # Maximum depth: 1041.047897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.125312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913926; longitude = -117.760942; captureRadius = 10; duration = 244; initialDepth = 992.666606; finalDepth = 989.125312; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 989.125312 # Seafloor depth: -1039.125312 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 134.933624 meters # Minimum depth: 1042.666606 meters looking forward 100.000000 meters along route # Maximum depth: 1044.299411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.666606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914550; longitude = -117.759866; captureRadius = 10; duration = 269; initialDepth = 993.982678; finalDepth = 992.666606; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 992.666606 # Seafloor depth: -1042.666606 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 109.296118 meters # Minimum depth: 1043.982678 meters looking forward 100.000000 meters along route # Maximum depth: 1043.982678 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.982678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915239; longitude = -117.758677; captureRadius = 10; duration = 218; initialDepth = 988.932910; finalDepth = 993.982678; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 993.982678 # Seafloor depth: -1043.982678 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.113971 meters # Minimum depth: 1038.932910 meters looking forward 100.000000 meters along route # Maximum depth: 1040.138898 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.932910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915797; longitude = -117.757713; captureRadius = 10; duration = 244; initialDepth = 972.807767; finalDepth = 988.932910; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2059879999999 # Actual altitude: 51.2059879999999 # Commanded vehicle depth: 988.93291 # Seafloor depth: -1040.138898 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.113373 meters # Minimum depth: 1022.807767 meters looking forward 100.000000 meters along route # Maximum depth: 1035.635860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.807767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916421; longitude = -117.756637; captureRadius = 10; duration = 244; initialDepth = 972.776119; finalDepth = 972.807767; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.8280930000001 # Actual altitude: 62.8280930000001 # Commanded vehicle depth: 972.807767 # Seafloor depth: -1035.635860 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 251.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.13; MB_Bottom_Detect_Filter_Max_Range = 251.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.112772 meters # Minimum depth: 1022.776119 meters looking forward 100.000000 meters along route # Maximum depth: 1022.776119 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.776119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917045; longitude = -117.755561; captureRadius = 10; duration = 244; initialDepth = 963.891300; finalDepth = 972.776119; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.8280930000001 # Actual altitude: 62.8280930000001 # Commanded vehicle depth: 972.776119 # Seafloor depth: -1022.776119 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 251.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.13; MB_Bottom_Detect_Filter_Max_Range = 251.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.112174 meters # Minimum depth: 1013.891300 meters looking forward 100.000000 meters along route # Maximum depth: 1015.752220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.891300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917669; longitude = -117.754485; captureRadius = 10; duration = 244; initialDepth = 957.541939; finalDepth = 963.891300; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.86092 # Actual altitude: 51.86092 # Commanded vehicle depth: 963.8913 # Seafloor depth: -1015.752220 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.111574 meters # Minimum depth: 1007.541939 meters looking forward 100.000000 meters along route # Maximum depth: 1011.549178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.541939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918292; longitude = -117.753408; captureRadius = 10; duration = 244; initialDepth = 957.243849; finalDepth = 957.541939; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.007239 # Actual altitude: 54.007239 # Commanded vehicle depth: 957.541939 # Seafloor depth: -1011.549178 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 216.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.60; MB_Bottom_Detect_Filter_Max_Range = 216.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.110974 meters # Minimum depth: 1007.243849 meters looking forward 100.000000 meters along route # Maximum depth: 1007.243849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.243849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918916; longitude = -117.752332; captureRadius = 10; duration = 244; initialDepth = 951.488405; finalDepth = 957.243849; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.007239 # Actual altitude: 54.007239 # Commanded vehicle depth: 957.243849 # Seafloor depth: -1007.243849 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 216.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.60; MB_Bottom_Detect_Filter_Max_Range = 216.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.110376 meters # Minimum depth: 1001.488405 meters looking forward 100.000000 meters along route # Maximum depth: 1002.823890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.488405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919540; longitude = -117.751256; captureRadius = 10; duration = 244; initialDepth = 944.398783; finalDepth = 951.488405; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 951.488405 # Seafloor depth: -1001.488405 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 122.109776 meters # Minimum depth: 994.398783 meters looking forward 100.000000 meters along route # Maximum depth: 1004.854750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.398783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920164; longitude = -117.750179; captureRadius = 10; duration = 244; initialDepth = 942.527876; finalDepth = 944.398783; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.455967 # Actual altitude: 60.455967 # Commanded vehicle depth: 944.398783 # Seafloor depth: -1004.854750 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 241.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.18; MB_Bottom_Detect_Filter_Max_Range = 241.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 124.652703 meters # Minimum depth: 992.527876 meters looking forward 100.000000 meters along route # Maximum depth: 993.191311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 942.527876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920787; longitude = -117.749103; captureRadius = 10; duration = 249; initialDepth = 939.532558; finalDepth = 942.527876; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 60.455967 # Actual altitude: 60.455967 # Commanded vehicle depth: 942.527876 # Seafloor depth: -992.527876 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 241.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.18; MB_Bottom_Detect_Filter_Max_Range = 241.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 150.000000 meters # Minimum depth: 989.532558 meters looking forward 100.000000 meters along route # Maximum depth: 991.945175 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.532558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921424; longitude = -117.748004; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 941.350266; finalDepth = 939.532558; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 52.412617 # Actual altitude: 52.412617 # Commanded vehicle depth: 939.532558 # Seafloor depth: -991.945175 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 209.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.97; MB_Bottom_Detect_Filter_Max_Range = 209.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 109.899734 meters # Minimum depth: 991.350266 meters looking forward 100.000000 meters along route # Maximum depth: 994.277628 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.350266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920309; longitude = -117.747096; captureRadius = 10; duration = 219; # abortOnTimeout = True; initialDepth = 944.479758; finalDepth = 941.350266; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.412617 # Actual altitude: 52.412617 # Commanded vehicle depth: 941.350266 # Seafloor depth: -991.350266 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.97; MB_Bottom_Detect_Filter_Max_Range = 209.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 117.780387 meters # Minimum depth: 994.479758 meters looking forward 100.000000 meters along route # Maximum depth: 994.479758 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.479758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919748; longitude = -117.748065; captureRadius = 10; duration = 235; initialDepth = 949.854890; finalDepth = 944.479758; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 944.479758 # Seafloor depth: -994.479758 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 122.111054 meters # Minimum depth: 999.854890 meters looking forward 100.000000 meters along route # Maximum depth: 1002.424723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.854890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919146; longitude = -117.749103; captureRadius = 10; duration = 244; initialDepth = 954.339415; finalDepth = 949.854890; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 949.85489 # Seafloor depth: -999.854890 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 122.111653 meters # Minimum depth: 1004.339415 meters looking forward 100.000000 meters along route # Maximum depth: 1009.553623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.339415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918522; longitude = -117.750179; captureRadius = 10; duration = 244; initialDepth = 960.094621; finalDepth = 954.339415; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 954.339415 # Seafloor depth: -1004.339415 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 122.112253 meters # Minimum depth: 1010.094621 meters looking forward 100.000000 meters along route # Maximum depth: 1010.094621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.094621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917898; longitude = -117.751256; captureRadius = 10; duration = 244; initialDepth = 966.938822; finalDepth = 960.094621; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 960.094621 # Seafloor depth: -1010.094621 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 122.112852 meters # Minimum depth: 1016.938822 meters looking forward 100.000000 meters along route # Maximum depth: 1017.893520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.938822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917275; longitude = -117.752332; captureRadius = 10; duration = 244; initialDepth = 969.741362; finalDepth = 966.938822; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 966.938822 # Seafloor depth: -1016.938822 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 122.113451 meters # Minimum depth: 1019.741362 meters looking forward 100.000000 meters along route # Maximum depth: 1026.973961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.741362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916651; longitude = -117.753408; captureRadius = 10; duration = 244; initialDepth = 978.943460; finalDepth = 969.741362; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 969.741362 # Seafloor depth: -1019.741362 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 122.114051 meters # Minimum depth: 1028.943460 meters looking forward 100.000000 meters along route # Maximum depth: 1028.943460 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.943460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916027; longitude = -117.754485; captureRadius = 10; duration = 244; initialDepth = 992.500879; finalDepth = 978.943460; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 978.94346 # Seafloor depth: -1028.943460 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 122.114650 meters # Minimum depth: 1042.500879 meters looking forward 100.000000 meters along route # Maximum depth: 1044.932331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.500879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915403; longitude = -117.755561; captureRadius = 10; duration = 244; initialDepth = 999.188957; finalDepth = 992.500879; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 992.500879 # Seafloor depth: -1042.500879 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 122.115249 meters # Minimum depth: 1049.188957 meters looking forward 100.000000 meters along route # Maximum depth: 1049.895097 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.188957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914779; longitude = -117.756637; captureRadius = 10; duration = 244; initialDepth = 999.132375; finalDepth = 999.188957; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 999.188957 # Seafloor depth: -1049.188957 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 140.978021 meters # Minimum depth: 1049.132375 meters looking forward 100.000000 meters along route # Maximum depth: 1050.049260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.132375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914156; longitude = -117.757713; captureRadius = 10; duration = 281; initialDepth = 998.877314; finalDepth = 999.132375; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9168850000001 # Actual altitude: 50.9168850000001 # Commanded vehicle depth: 999.132375 # Seafloor depth: -1050.049260 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.254277 meters # Minimum depth: 1048.877314 meters looking forward 100.000000 meters along route # Maximum depth: 1048.877314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.877314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913436; longitude = -117.758956; captureRadius = 10; duration = 206; initialDepth = 997.046708; finalDepth = 998.877314; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9168850000001 # Actual altitude: 50.9168850000001 # Commanded vehicle depth: 998.877314 # Seafloor depth: -1048.877314 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 122.117048 meters # Minimum depth: 1047.046708 meters looking forward 100.000000 meters along route # Maximum depth: 1047.840150 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.046708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912908; longitude = -117.759866; captureRadius = 10; duration = 244; initialDepth = 991.198671; finalDepth = 997.046708; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7934419999999 # Actual altitude: 50.7934419999999 # Commanded vehicle depth: 997.046708 # Seafloor depth: -1047.840150 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 127.686698 meters # Minimum depth: 1041.198671 meters looking forward 100.000000 meters along route # Maximum depth: 1046.246807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.198671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912284; longitude = -117.760942; captureRadius = 10; duration = 255; initialDepth = 990.926178; finalDepth = 991.198671; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0481359999999 # Actual altitude: 55.0481359999999 # Commanded vehicle depth: 991.198671 # Seafloor depth: -1046.246807 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 220.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.02; MB_Bottom_Detect_Filter_Max_Range = 220.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 116.549196 meters # Minimum depth: 1040.926178 meters looking forward 100.000000 meters along route # Maximum depth: 1040.926178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.926178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911632; longitude = -117.762068; captureRadius = 10; duration = 233; initialDepth = 983.162214; finalDepth = 990.926178; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0481359999999 # Actual altitude: 55.0481359999999 # Commanded vehicle depth: 990.926178 # Seafloor depth: -1040.926178 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 220.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.02; MB_Bottom_Detect_Filter_Max_Range = 220.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 122.118847 meters # Minimum depth: 1033.162214 meters looking forward 100.000000 meters along route # Maximum depth: 1035.289042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.162214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911037; longitude = -117.763095; captureRadius = 10; duration = 244; initialDepth = 978.643431; finalDepth = 983.162214; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1268280000002 # Actual altitude: 52.1268280000002 # Commanded vehicle depth: 983.162214 # Seafloor depth: -1035.289042 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 208.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 122.119446 meters # Minimum depth: 1028.643431 meters looking forward 100.000000 meters along route # Maximum depth: 1031.211139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.643431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910413; longitude = -117.764171; captureRadius = 10; duration = 244; initialDepth = 978.530283; finalDepth = 978.643431; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.567708 # Actual altitude: 52.567708 # Commanded vehicle depth: 978.643431 # Seafloor depth: -1031.211139 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 210.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.03; MB_Bottom_Detect_Filter_Max_Range = 210.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 122.120046 meters # Minimum depth: 1028.530283 meters looking forward 100.000000 meters along route # Maximum depth: 1028.530283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.530283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909789; longitude = -117.765248; captureRadius = 10; duration = 244; initialDepth = 976.295397; finalDepth = 978.530283; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.567708 # Actual altitude: 52.567708 # Commanded vehicle depth: 978.530283 # Seafloor depth: -1028.530283 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 210.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.03; MB_Bottom_Detect_Filter_Max_Range = 210.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 122.120646 meters # Minimum depth: 1026.295397 meters looking forward 100.000000 meters along route # Maximum depth: 1026.637871 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.295397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909165; longitude = -117.766324; captureRadius = 10; duration = 244; initialDepth = 975.841376; finalDepth = 976.295397; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3424739999998 # Actual altitude: 50.3424739999998 # Commanded vehicle depth: 976.295397 # Seafloor depth: -1026.637871 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 122.121245 meters # Minimum depth: 1025.841376 meters looking forward 100.000000 meters along route # Maximum depth: 1027.002367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.841376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908542; longitude = -117.767400; captureRadius = 10; duration = 244; initialDepth = 977.289223; finalDepth = 975.841376; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3424739999998 # Actual altitude: 50.3424739999998 # Commanded vehicle depth: 975.841376 # Seafloor depth: -1025.841376 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 122.121845 meters # Minimum depth: 1027.289223 meters looking forward 100.000000 meters along route # Maximum depth: 1027.289223 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.289223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907918; longitude = -117.768476; captureRadius = 10; duration = 244; initialDepth = 978.964190; finalDepth = 977.289223; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 977.289223 # Seafloor depth: -1027.289223 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 122.122444 meters # Minimum depth: 1028.964190 meters looking forward 100.000000 meters along route # Maximum depth: 1029.244626 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.964190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907294; longitude = -117.769553; captureRadius = 10; duration = 244; initialDepth = 980.453700; finalDepth = 978.964190; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 978.96419 # Seafloor depth: -1028.964190 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 122.123045 meters # Minimum depth: 1030.453700 meters looking forward 100.000000 meters along route # Maximum depth: 1031.679951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.453700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906670; longitude = -117.770629; captureRadius = 10; duration = 244; initialDepth = 982.060060; finalDepth = 980.453700; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 980.4537 # Seafloor depth: -1030.453700 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 142.225789 meters # Minimum depth: 1032.060060 meters looking forward 100.000000 meters along route # Maximum depth: 1033.511850 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.060060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906047; longitude = -117.771705; captureRadius = 10; duration = 284; initialDepth = 984.045816; finalDepth = 982.060060; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 982.06006 # Seafloor depth: -1032.060060 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 102.022099 meters # Minimum depth: 1034.045816 meters looking forward 100.000000 meters along route # Maximum depth: 1034.045816 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.045816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905320; longitude = -117.772959; captureRadius = 10; duration = 204; initialDepth = 985.884987; finalDepth = 984.045816; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 984.045816 # Seafloor depth: -1034.045816 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 122.124843 meters # Minimum depth: 1035.884987 meters looking forward 100.000000 meters along route # Maximum depth: 1036.678108 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.884987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904799; longitude = -117.773858; captureRadius = 10; duration = 244; initialDepth = 987.340745; finalDepth = 985.884987; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 985.884987 # Seafloor depth: -1035.884987 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 128.933637 meters # Minimum depth: 1037.340745 meters looking forward 100.000000 meters along route # Maximum depth: 1039.667711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.340745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904175; longitude = -117.774934; captureRadius = 10; duration = 257; initialDepth = 989.739098; finalDepth = 987.340745; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 987.340745 # Seafloor depth: -1037.340745 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 115.317850 meters # Minimum depth: 1039.739098 meters looking forward 100.000000 meters along route # Maximum depth: 1039.739098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.739098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903517; longitude = -117.776071; captureRadius = 10; duration = 230; initialDepth = 983.839485; finalDepth = 989.739098; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 989.739098 # Seafloor depth: -1039.739098 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 122.126644 meters # Minimum depth: 1033.839485 meters looking forward 100.000000 meters along route # Maximum depth: 1037.447096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.839485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902928; longitude = -117.777087; captureRadius = 10; duration = 244; initialDepth = 983.406175; finalDepth = 983.839485; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6076110000001 # Actual altitude: 53.6076110000001 # Commanded vehicle depth: 983.839485 # Seafloor depth: -1037.447096 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 214.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 214.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 122.127243 meters # Minimum depth: 1033.406175 meters looking forward 100.000000 meters along route # Maximum depth: 1038.493270 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.406175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902304; longitude = -117.778163; captureRadius = 10; duration = 244; initialDepth = 988.665845; finalDepth = 983.406175; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6076110000001 # Actual altitude: 53.6076110000001 # Commanded vehicle depth: 983.406175 # Seafloor depth: -1033.406175 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 214.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 214.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 122.127843 meters # Minimum depth: 1038.665845 meters looking forward 100.000000 meters along route # Maximum depth: 1038.665845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.665845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901680; longitude = -117.779239; captureRadius = 10; duration = 244; initialDepth = 991.217046; finalDepth = 988.665845; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 988.665845 # Seafloor depth: -1038.665845 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 122.128443 meters # Minimum depth: 1041.217046 meters looking forward 100.000000 meters along route # Maximum depth: 1042.777675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.217046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901056; longitude = -117.780316; captureRadius = 10; duration = 244; initialDepth = 995.032362; finalDepth = 991.217046; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 991.217046 # Seafloor depth: -1041.217046 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 122.129043 meters # Minimum depth: 1045.032362 meters looking forward 100.000000 meters along route # Maximum depth: 1048.846073 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.032362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900433; longitude = -117.781392; captureRadius = 10; duration = 244; initialDepth = 999.578157; finalDepth = 995.032362; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 995.032362 # Seafloor depth: -1045.032362 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 122.129643 meters # Minimum depth: 1049.578157 meters looking forward 100.000000 meters along route # Maximum depth: 1049.578157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.578157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899809; longitude = -117.782468; captureRadius = 10; duration = 244; initialDepth = 1002.895866; finalDepth = 999.578157; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 999.578157 # Seafloor depth: -1049.578157 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 122.130243 meters # Minimum depth: 1052.895866 meters looking forward 100.000000 meters along route # Maximum depth: 1053.134686 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.895866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899185; longitude = -117.783545; captureRadius = 10; duration = 244; initialDepth = 998.320500; finalDepth = 1002.895866; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.23882 # Actual altitude: 50.23882 # Commanded vehicle depth: 1002.895866 # Seafloor depth: -1053.134686 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 200.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 122.130843 meters # Minimum depth: 1048.320500 meters looking forward 100.000000 meters along route # Maximum depth: 1051.449112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.320500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898561; longitude = -117.784621; captureRadius = 10; duration = 244; initialDepth = 997.400438; finalDepth = 998.320500; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.128612 # Actual altitude: 53.128612 # Commanded vehicle depth: 998.3205 # Seafloor depth: -1051.449112 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 212.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 212.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 143.473720 meters # Minimum depth: 1047.400438 meters looking forward 100.000000 meters along route # Maximum depth: 1048.775858 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.400438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897937; longitude = -117.785697; captureRadius = 10; duration = 286; initialDepth = 998.821422; finalDepth = 997.400438; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.128612 # Actual altitude: 53.128612 # Commanded vehicle depth: 997.400438 # Seafloor depth: -1047.400438 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 212.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 212.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.789767 meters # Minimum depth: 1048.821422 meters looking forward 100.000000 meters along route # Maximum depth: 1048.821422 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.821422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897205; longitude = -117.786962; captureRadius = 10; duration = 201; initialDepth = 999.117015; finalDepth = 998.821422; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 998.821422 # Seafloor depth: -1048.821422 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 122.132643 meters # Minimum depth: 1049.117015 meters looking forward 100.000000 meters along route # Maximum depth: 1049.893873 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.117015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896690; longitude = -117.787850; captureRadius = 10; duration = 244; initialDepth = 1000.638974; finalDepth = 999.117015; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 999.117015 # Seafloor depth: -1049.117015 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 130.180737 meters # Minimum depth: 1050.638974 meters looking forward 100.000000 meters along route # Maximum depth: 1051.855997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.638974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896066; longitude = -117.788926; captureRadius = 10; duration = 260; initialDepth = 1001.966763; finalDepth = 1000.638974; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1000.638974 # Seafloor depth: -1050.638974 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 114.086350 meters # Minimum depth: 1051.966763 meters looking forward 100.000000 meters along route # Maximum depth: 1051.966763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.966763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895401; longitude = -117.790073; captureRadius = 10; duration = 228; initialDepth = 1003.170642; finalDepth = 1001.966763; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1001.966763 # Seafloor depth: -1051.966763 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 122.134444 meters # Minimum depth: 1053.170642 meters looking forward 100.000000 meters along route # Maximum depth: 1053.553838 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.170642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894819; longitude = -117.791079; captureRadius = 10; duration = 244; initialDepth = 1002.676651; finalDepth = 1003.170642; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.383196 # Actual altitude: 50.383196 # Commanded vehicle depth: 1003.170642 # Seafloor depth: -1053.553838 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 122.135044 meters # Minimum depth: 1052.676651 meters looking forward 100.000000 meters along route # Maximum depth: 1054.322085 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.676651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894195; longitude = -117.792155; captureRadius = 10; duration = 244; initialDepth = 1004.389931; finalDepth = 1002.676651; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.383196 # Actual altitude: 50.383196 # Commanded vehicle depth: 1002.676651 # Seafloor depth: -1052.676651 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 122.135644 meters # Minimum depth: 1054.389931 meters looking forward 100.000000 meters along route # Maximum depth: 1054.389931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.389931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893571; longitude = -117.793231; captureRadius = 10; duration = 244; initialDepth = 1003.804531; finalDepth = 1004.389931; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1004.389931 # Seafloor depth: -1054.389931 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 122.136245 meters # Minimum depth: 1053.804531 meters looking forward 100.000000 meters along route # Maximum depth: 1054.213671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.804531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892947; longitude = -117.794308; captureRadius = 10; duration = 244; initialDepth = 1003.211313; finalDepth = 1003.804531; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.40914 # Actual altitude: 50.40914 # Commanded vehicle depth: 1003.804531 # Seafloor depth: -1054.213671 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.16; MB_Bottom_Detect_Filter_Max_Range = 201.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 122.136844 meters # Minimum depth: 1053.211313 meters looking forward 100.000000 meters along route # Maximum depth: 1053.259487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.211313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892323; longitude = -117.795384; captureRadius = 10; duration = 244; initialDepth = 1002.410714; finalDepth = 1003.211313; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.40914 # Actual altitude: 50.40914 # Commanded vehicle depth: 1003.211313 # Seafloor depth: -1053.211313 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.16; MB_Bottom_Detect_Filter_Max_Range = 201.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 158.015244 meters # Minimum depth: 1052.410714 meters looking forward 100.000000 meters along route # Maximum depth: 1053.322367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.410714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891700; longitude = -117.796460; captureRadius = 10; duration = 316; initialDepth = 1000.456812; finalDepth = 1002.410714; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9116529999999 # Actual altitude: 50.9116529999999 # Commanded vehicle depth: 1002.410714 # Seafloor depth: -1053.322367 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 184.117475 meters # Minimum depth: 1050.456812 meters looking forward 100.000000 meters along route # Maximum depth: 1052.153977 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.456812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890893; longitude = -117.797853; captureRadius = 10; duration = 368; initialDepth = 999.191974; finalDepth = 1000.456812; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.697165 # Actual altitude: 51.697165 # Commanded vehicle depth: 1000.456812 # Seafloor depth: -1052.153977 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 206.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 206.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 150.000000 meters # Minimum depth: 1049.191974 meters looking forward 100.000000 meters along route # Maximum depth: 1050.101990 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.191974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889952; longitude = -117.799475; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 1000.109283; finalDepth = 999.191974; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 51.697165 # Actual altitude: 51.697165 # Commanded vehicle depth: 999.191974 # Seafloor depth: -1050.101990 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 206.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 206.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 116.911243 meters # Minimum depth: 1050.109283 meters looking forward 100.000000 meters along route # Maximum depth: 1050.285640 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.109283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.888837; longitude = -117.798567; captureRadius = 10; duration = 233; # abortOnTimeout = True; initialDepth = 1001.590799; finalDepth = 1000.109283; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9100159999998 # Actual altitude: 50.9100159999998 # Commanded vehicle depth: 1000.109283 # Seafloor depth: -1050.109283 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 122.138722 meters # Minimum depth: 1051.590799 meters looking forward 100.000000 meters along route # Maximum depth: 1053.667660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.590799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889434; longitude = -117.797536; captureRadius = 10; duration = 244; initialDepth = 1003.816658; finalDepth = 1001.590799; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1001.590799 # Seafloor depth: -1051.590799 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 122.138122 meters # Minimum depth: 1053.816658 meters looking forward 100.000000 meters along route # Maximum depth: 1053.816658 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.816658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890058; longitude = -117.796460; captureRadius = 10; duration = 244; initialDepth = 1003.413206; finalDepth = 1003.816658; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1003.816658 # Seafloor depth: -1053.816658 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 122.137521 meters # Minimum depth: 1053.413206 meters looking forward 100.000000 meters along route # Maximum depth: 1053.711385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.413206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890682; longitude = -117.795384; captureRadius = 10; duration = 244; initialDepth = 1003.225340; finalDepth = 1003.413206; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2981790000001 # Actual altitude: 50.2981790000001 # Commanded vehicle depth: 1003.413206 # Seafloor depth: -1053.711385 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 122.136922 meters # Minimum depth: 1053.225340 meters looking forward 100.000000 meters along route # Maximum depth: 1054.445460 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.225340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891306; longitude = -117.794308; captureRadius = 10; duration = 244; initialDepth = 1004.646312; finalDepth = 1003.225340; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2981790000001 # Actual altitude: 50.2981790000001 # Commanded vehicle depth: 1003.22534 # Seafloor depth: -1053.225340 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 122.136321 meters # Minimum depth: 1054.646312 meters looking forward 100.000000 meters along route # Maximum depth: 1054.646312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.646312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891930; longitude = -117.793231; captureRadius = 10; duration = 244; initialDepth = 1003.644803; finalDepth = 1004.646312; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1004.646312 # Seafloor depth: -1054.646312 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 122.135720 meters # Minimum depth: 1053.644803 meters looking forward 100.000000 meters along route # Maximum depth: 1054.106427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.644803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892553; longitude = -117.792155; captureRadius = 10; duration = 244; initialDepth = 1002.183892; finalDepth = 1003.644803; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.461624 # Actual altitude: 50.461624 # Commanded vehicle depth: 1003.644803 # Seafloor depth: -1054.106427 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 122.135121 meters # Minimum depth: 1052.183892 meters looking forward 100.000000 meters along route # Maximum depth: 1052.661237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.183892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893177; longitude = -117.791079; captureRadius = 10; duration = 244; initialDepth = 1002.953855; finalDepth = 1002.183892; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.461624 # Actual altitude: 50.461624 # Commanded vehicle depth: 1002.183892 # Seafloor depth: -1052.183892 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 136.797344 meters # Minimum depth: 1052.953855 meters looking forward 100.000000 meters along route # Maximum depth: 1054.071801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.953855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893801; longitude = -117.790002; captureRadius = 10; duration = 273; initialDepth = 1003.921273; finalDepth = 1002.953855; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1002.953855 # Seafloor depth: -1052.953855 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 107.471097 meters # Minimum depth: 1053.921273 meters looking forward 100.000000 meters along route # Maximum depth: 1053.921273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.921273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894500; longitude = -117.788797; captureRadius = 10; duration = 214; initialDepth = 1000.637264; finalDepth = 1003.921273; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1003.921273 # Seafloor depth: -1053.921273 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 122.133320 meters # Minimum depth: 1050.637264 meters looking forward 100.000000 meters along route # Maximum depth: 1051.659101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.637264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895048; longitude = -117.787850; captureRadius = 10; duration = 244; initialDepth = 1000.762368; finalDepth = 1000.637264; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.021837 # Actual altitude: 51.021837 # Commanded vehicle depth: 1000.637264 # Seafloor depth: -1051.659101 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 204.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 123.502558 meters # Minimum depth: 1050.762368 meters looking forward 100.000000 meters along route # Maximum depth: 1054.476327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.762368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895672; longitude = -117.786773; captureRadius = 10; duration = 247; initialDepth = 1004.480792; finalDepth = 1000.762368; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.021837 # Actual altitude: 51.021837 # Commanded vehicle depth: 1000.762368 # Seafloor depth: -1050.762368 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 204.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 120.762283 meters # Minimum depth: 1054.480792 meters looking forward 100.000000 meters along route # Maximum depth: 1054.480792 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.480792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896303; longitude = -117.785685; captureRadius = 10; duration = 241; initialDepth = 1003.871553; finalDepth = 1004.480792; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1004.480792 # Seafloor depth: -1054.480792 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 122.131520 meters # Minimum depth: 1053.871553 meters looking forward 100.000000 meters along route # Maximum depth: 1055.748283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.871553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896920; longitude = -117.784621; captureRadius = 10; duration = 244; initialDepth = 1007.344421; finalDepth = 1003.871553; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1003.871553 # Seafloor depth: -1053.871553 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 122.130920 meters # Minimum depth: 1057.344421 meters looking forward 100.000000 meters along route # Maximum depth: 1058.058635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.344421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897544; longitude = -117.783545; captureRadius = 10; duration = 244; initialDepth = 1007.058334; finalDepth = 1007.344421; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7142140000001 # Actual altitude: 50.7142140000001 # Commanded vehicle depth: 1007.344421 # Seafloor depth: -1058.058635 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 122.130321 meters # Minimum depth: 1057.058334 meters looking forward 100.000000 meters along route # Maximum depth: 1057.058334 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.058334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898167; longitude = -117.782468; captureRadius = 10; duration = 244; initialDepth = 1001.895006; finalDepth = 1007.058334; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7142140000001 # Actual altitude: 50.7142140000001 # Commanded vehicle depth: 1007.058334 # Seafloor depth: -1057.058334 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 122.129720 meters # Minimum depth: 1051.895006 meters looking forward 100.000000 meters along route # Maximum depth: 1052.732239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.895006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898791; longitude = -117.781392; captureRadius = 10; duration = 244; initialDepth = 998.450096; finalDepth = 1001.895006; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.837233 # Actual altitude: 50.837233 # Commanded vehicle depth: 1001.895006 # Seafloor depth: -1052.732239 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 122.129120 meters # Minimum depth: 1048.450096 meters looking forward 100.000000 meters along route # Maximum depth: 1050.099088 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.450096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899415; longitude = -117.780316; captureRadius = 10; duration = 244; initialDepth = 998.054501; finalDepth = 998.450096; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6489919999999 # Actual altitude: 51.6489919999999 # Commanded vehicle depth: 998.450096 # Seafloor depth: -1050.099088 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 122.128521 meters # Minimum depth: 1048.054501 meters looking forward 100.000000 meters along route # Maximum depth: 1048.054501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.054501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900039; longitude = -117.779239; captureRadius = 10; duration = 244; initialDepth = 997.052661; finalDepth = 998.054501; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6489919999999 # Actual altitude: 51.6489919999999 # Commanded vehicle depth: 998.054501 # Seafloor depth: -1048.054501 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 122.127921 meters # Minimum depth: 1047.052661 meters looking forward 100.000000 meters along route # Maximum depth: 1047.176566 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.052661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900662; longitude = -117.778163; captureRadius = 10; duration = 244; initialDepth = 995.393964; finalDepth = 997.052661; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 997.052661 # Seafloor depth: -1047.052661 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 122.127320 meters # Minimum depth: 1045.393964 meters looking forward 100.000000 meters along route # Maximum depth: 1046.775977 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.393964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901286; longitude = -117.777087; captureRadius = 10; duration = 244; initialDepth = 994.450436; finalDepth = 995.393964; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3820129999999 # Actual altitude: 51.3820129999999 # Commanded vehicle depth: 995.393964 # Seafloor depth: -1046.775977 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 138.037272 meters # Minimum depth: 1044.450436 meters looking forward 100.000000 meters along route # Maximum depth: 1045.525371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.450436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901910; longitude = -117.776011; captureRadius = 10; duration = 276; initialDepth = 994.867306; finalDepth = 994.450436; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3820129999999 # Actual altitude: 51.3820129999999 # Commanded vehicle depth: 994.450436 # Seafloor depth: -1045.525371 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 106.215570 meters # Minimum depth: 1044.867306 meters looking forward 100.000000 meters along route # Maximum depth: 1044.867306 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.867306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902615; longitude = -117.774794; captureRadius = 10; duration = 212; initialDepth = 993.159423; finalDepth = 994.867306; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0749349999999 # Actual altitude: 51.0749349999999 # Commanded vehicle depth: 994.867306 # Seafloor depth: -1044.867306 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 122.125522 meters # Minimum depth: 1043.159423 meters looking forward 100.000000 meters along route # Maximum depth: 1043.399254 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.159423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903157; longitude = -117.773858; captureRadius = 10; duration = 244; initialDepth = 991.274792; finalDepth = 993.159423; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2398309999999 # Actual altitude: 50.2398309999999 # Commanded vehicle depth: 993.159423 # Seafloor depth: -1043.399254 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 200.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 124.743317 meters # Minimum depth: 1041.274792 meters looking forward 100.000000 meters along route # Maximum depth: 1042.639949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.274792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903781; longitude = -117.772782; captureRadius = 10; duration = 249; initialDepth = 991.231789; finalDepth = 991.274792; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.365157 # Actual altitude: 51.365157 # Commanded vehicle depth: 991.274792 # Seafloor depth: -1042.639949 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 119.505926 meters # Minimum depth: 1041.231789 meters looking forward 100.000000 meters along route # Maximum depth: 1041.231789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.231789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904418; longitude = -117.771682; captureRadius = 10; duration = 239; initialDepth = 989.030042; finalDepth = 991.231789; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.365157 # Actual altitude: 51.365157 # Commanded vehicle depth: 991.231789 # Seafloor depth: -1041.231789 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 122.123722 meters # Minimum depth: 1039.030042 meters looking forward 100.000000 meters along route # Maximum depth: 1039.623189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.030042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905029; longitude = -117.770629; captureRadius = 10; duration = 244; initialDepth = 986.448232; finalDepth = 989.030042; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5931469999998 # Actual altitude: 50.5931469999998 # Commanded vehicle depth: 989.030042 # Seafloor depth: -1039.623189 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 122.123123 meters # Minimum depth: 1036.448232 meters looking forward 100.000000 meters along route # Maximum depth: 1038.336697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.448232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905653; longitude = -117.769553; captureRadius = 10; duration = 244; initialDepth = 986.252247; finalDepth = 986.448232; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.888465 # Actual altitude: 51.888465 # Commanded vehicle depth: 986.448232 # Seafloor depth: -1038.336697 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.76; MB_Bottom_Detect_Filter_Max_Range = 207.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 122.122522 meters # Minimum depth: 1036.252247 meters looking forward 100.000000 meters along route # Maximum depth: 1036.252247 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.252247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906276; longitude = -117.768476; captureRadius = 10; duration = 244; initialDepth = 985.624032; finalDepth = 986.252247; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.888465 # Actual altitude: 51.888465 # Commanded vehicle depth: 986.252247 # Seafloor depth: -1036.252247 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.76; MB_Bottom_Detect_Filter_Max_Range = 207.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 122.121924 meters # Minimum depth: 1035.624032 meters looking forward 100.000000 meters along route # Maximum depth: 1035.687815 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.624032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906900; longitude = -117.767400; captureRadius = 10; duration = 244; initialDepth = 985.439036; finalDepth = 985.624032; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 985.624032 # Seafloor depth: -1035.624032 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 122.121323 meters # Minimum depth: 1035.439036 meters looking forward 100.000000 meters along route # Maximum depth: 1036.946743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.439036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907524; longitude = -117.766324; captureRadius = 10; duration = 244; initialDepth = 987.261788; finalDepth = 985.439036; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 985.439036 # Seafloor depth: -1035.439036 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 122.120724 meters # Minimum depth: 1037.261788 meters looking forward 100.000000 meters along route # Maximum depth: 1037.261788 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.261788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908148; longitude = -117.765248; captureRadius = 10; duration = 244; initialDepth = 988.377274; finalDepth = 987.261788; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 987.261788 # Seafloor depth: -1037.261788 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 122.120124 meters # Minimum depth: 1038.377274 meters looking forward 100.000000 meters along route # Maximum depth: 1038.762452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.377274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908771; longitude = -117.764171; captureRadius = 10; duration = 244; initialDepth = 990.889544; finalDepth = 988.377274; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 988.377274 # Seafloor depth: -1038.377274 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 122.119525 meters # Minimum depth: 1040.889544 meters looking forward 100.000000 meters along route # Maximum depth: 1044.060485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.889544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909395; longitude = -117.763095; captureRadius = 10; duration = 244; initialDepth = 995.714191; finalDepth = 990.889544; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 990.889544 # Seafloor depth: -1040.889544 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 139.277043 meters # Minimum depth: 1045.714191 meters looking forward 100.000000 meters along route # Maximum depth: 1048.675406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.714191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910019; longitude = -117.762019; captureRadius = 10; duration = 278; initialDepth = 998.873375; finalDepth = 995.714191; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 995.714191 # Seafloor depth: -1045.714191 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.960208 meters # Minimum depth: 1048.873375 meters looking forward 100.000000 meters along route # Maximum depth: 1048.873375 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.873375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910730; longitude = -117.760791; captureRadius = 10; duration = 209; initialDepth = 1000.453392; finalDepth = 998.873375; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 998.873375 # Seafloor depth: -1048.873375 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 122.117726 meters # Minimum depth: 1050.453392 meters looking forward 100.000000 meters along route # Maximum depth: 1050.821656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.453392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911267; longitude = -117.759866; captureRadius = 10; duration = 244; initialDepth = 1001.472963; finalDepth = 1000.453392; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1000.453392 # Seafloor depth: -1050.453392 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 125.983920 meters # Minimum depth: 1051.472963 meters looking forward 100.000000 meters along route # Maximum depth: 1051.538928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.472963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911890; longitude = -117.758790; captureRadius = 10; duration = 251; initialDepth = 1001.603005; finalDepth = 1001.472963; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1001.472963 # Seafloor depth: -1051.472963 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 118.249734 meters # Minimum depth: 1051.603005 meters looking forward 100.000000 meters along route # Maximum depth: 1051.603005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.603005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912534; longitude = -117.757679; captureRadius = 10; duration = 236; initialDepth = 999.448666; finalDepth = 1001.603005; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1001.603005 # Seafloor depth: -1051.603005 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 122.115928 meters # Minimum depth: 1049.448666 meters looking forward 100.000000 meters along route # Maximum depth: 1051.792210 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.448666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913138; longitude = -117.756637; captureRadius = 10; duration = 244; initialDepth = 993.827437; finalDepth = 999.448666; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3435440000001 # Actual altitude: 52.3435440000001 # Commanded vehicle depth: 999.448666 # Seafloor depth: -1051.792210 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.94; MB_Bottom_Detect_Filter_Max_Range = 209.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 122.115328 meters # Minimum depth: 1043.827437 meters looking forward 100.000000 meters along route # Maximum depth: 1047.638528 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.827437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913762; longitude = -117.755561; captureRadius = 10; duration = 244; initialDepth = 993.203367; finalDepth = 993.827437; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.811091 # Actual altitude: 53.811091 # Commanded vehicle depth: 993.827437 # Seafloor depth: -1047.638528 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 215.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.52; MB_Bottom_Detect_Filter_Max_Range = 215.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 122.114730 meters # Minimum depth: 1043.203367 meters looking forward 100.000000 meters along route # Maximum depth: 1043.203367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.203367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914385; longitude = -117.754485; captureRadius = 10; duration = 244; initialDepth = 980.997080; finalDepth = 993.203367; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.811091 # Actual altitude: 53.811091 # Commanded vehicle depth: 993.203367 # Seafloor depth: -1043.203367 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 215.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.52; MB_Bottom_Detect_Filter_Max_Range = 215.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 122.114129 meters # Minimum depth: 1030.997080 meters looking forward 100.000000 meters along route # Maximum depth: 1035.672478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.997080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915009; longitude = -117.753408; captureRadius = 10; duration = 244; initialDepth = 968.183111; finalDepth = 980.997080; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6753979999999 # Actual altitude: 54.6753979999999 # Commanded vehicle depth: 980.99708 # Seafloor depth: -1035.672478 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 218.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.87; MB_Bottom_Detect_Filter_Max_Range = 218.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 122.113531 meters # Minimum depth: 1018.183111 meters looking forward 100.000000 meters along route # Maximum depth: 1023.281736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.183111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915633; longitude = -117.752332; captureRadius = 10; duration = 244; initialDepth = 967.496179; finalDepth = 968.183111; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.098625 # Actual altitude: 55.098625 # Commanded vehicle depth: 968.183111 # Seafloor depth: -1023.281736 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 220.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.04; MB_Bottom_Detect_Filter_Max_Range = 220.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 122.112931 meters # Minimum depth: 1017.496179 meters looking forward 100.000000 meters along route # Maximum depth: 1017.496179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.496179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916257; longitude = -117.751256; captureRadius = 10; duration = 244; initialDepth = 957.920904; finalDepth = 967.496179; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.098625 # Actual altitude: 55.098625 # Commanded vehicle depth: 967.496179 # Seafloor depth: -1017.496179 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 220.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.04; MB_Bottom_Detect_Filter_Max_Range = 220.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 122.112332 meters # Minimum depth: 1007.920904 meters looking forward 100.000000 meters along route # Maximum depth: 1009.411010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.920904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916880; longitude = -117.750179; captureRadius = 10; duration = 244; initialDepth = 955.460206; finalDepth = 957.920904; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4901060000001 # Actual altitude: 51.4901060000001 # Commanded vehicle depth: 957.920904 # Seafloor depth: -1009.411010 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 205.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 122.111732 meters # Minimum depth: 1005.460206 meters looking forward 100.000000 meters along route # Maximum depth: 1007.579588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.460206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917504; longitude = -117.749103; captureRadius = 10; duration = 244; initialDepth = 950.334804; finalDepth = 955.460206; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.119382 # Actual altitude: 52.119382 # Commanded vehicle depth: 955.460206 # Seafloor depth: -1007.579588 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 208.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 208.594934 meters # Minimum depth: 1000.334804 meters looking forward 100.000000 meters along route # Maximum depth: 1004.113231 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.334804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918128; longitude = -117.748027; captureRadius = 10; duration = 417; initialDepth = 945.722076; finalDepth = 950.334804; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.7784270000001 # Actual altitude: 53.7784270000001 # Commanded vehicle depth: 950.334804 # Seafloor depth: -1004.113231 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 215.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.51; MB_Bottom_Detect_Filter_Max_Range = 215.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 150.000000 meters # Minimum depth: 995.722076 meters looking forward 100.000000 meters along route # Maximum depth: 997.294067 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.722076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919194; longitude = -117.746188; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 948.732681; finalDepth = 945.722076; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 53.7784270000001 # Actual altitude: 53.7784270000001 # Commanded vehicle depth: 945.722076 # Seafloor depth: -995.722076 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 215.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.51; MB_Bottom_Detect_Filter_Max_Range = 215.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 202.777892 meters # Minimum depth: 998.732681 meters looking forward 100.000000 meters along route # Maximum depth: 1006.567994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.732681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918078; longitude = -117.745280; captureRadius = 10; duration = 405; # abortOnTimeout = True; initialDepth = 957.077468; finalDepth = 948.732681; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 948.732681 # Seafloor depth: -998.732681 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 108.841437 meters # Minimum depth: 1007.077468 meters looking forward 100.000000 meters along route # Maximum depth: 1007.077468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.077468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917042; longitude = -117.747067; captureRadius = 10; duration = 217; initialDepth = 962.748791; finalDepth = 957.077468; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 957.077468 # Seafloor depth: -1007.077468 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 122.113011 meters # Minimum depth: 1012.748791 meters looking forward 100.000000 meters along route # Maximum depth: 1013.365290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.748791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916486; longitude = -117.748027; captureRadius = 10; duration = 244; initialDepth = 963.426788; finalDepth = 962.748791; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 962.748791 # Seafloor depth: -1012.748791 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 122.113609 meters # Minimum depth: 1013.426788 meters looking forward 100.000000 meters along route # Maximum depth: 1021.635549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.426788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915863; longitude = -117.749103; captureRadius = 10; duration = 244; initialDepth = 971.636600; finalDepth = 963.426788; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 963.426788 # Seafloor depth: -1013.426788 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 122.114209 meters # Minimum depth: 1021.636600 meters looking forward 100.000000 meters along route # Maximum depth: 1021.636600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.636600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915239; longitude = -117.750179; captureRadius = 10; duration = 244; initialDepth = 981.490948; finalDepth = 971.636600; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 971.6366 # Seafloor depth: -1021.636600 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 122.114809 meters # Minimum depth: 1031.490948 meters looking forward 100.000000 meters along route # Maximum depth: 1036.756007 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.490948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914615; longitude = -117.751256; captureRadius = 10; duration = 244; initialDepth = 990.342037; finalDepth = 981.490948; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 981.490948 # Seafloor depth: -1031.490948 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 122.115407 meters # Minimum depth: 1040.342037 meters looking forward 100.000000 meters along route # Maximum depth: 1044.197658 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.342037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913991; longitude = -117.752332; captureRadius = 10; duration = 244; initialDepth = 994.505080; finalDepth = 990.342037; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 990.342037 # Seafloor depth: -1040.342037 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 122.116007 meters # Minimum depth: 1044.505080 meters looking forward 100.000000 meters along route # Maximum depth: 1044.505080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.505080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913368; longitude = -117.753408; captureRadius = 10; duration = 244; initialDepth = 996.350494; finalDepth = 994.505080; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 994.50508 # Seafloor depth: -1044.505080 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 122.116606 meters # Minimum depth: 1046.350494 meters looking forward 100.000000 meters along route # Maximum depth: 1047.742242 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.350494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912744; longitude = -117.754485; captureRadius = 10; duration = 244; initialDepth = 1001.050342; finalDepth = 996.350494; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 996.350494 # Seafloor depth: -1046.350494 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 122.117206 meters # Minimum depth: 1051.050342 meters looking forward 100.000000 meters along route # Maximum depth: 1051.209294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.050342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912120; longitude = -117.755561; captureRadius = 10; duration = 244; initialDepth = 1001.021646; finalDepth = 1001.050342; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1001.050342 # Seafloor depth: -1051.050342 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 122.117805 meters # Minimum depth: 1051.021646 meters looking forward 100.000000 meters along route # Maximum depth: 1051.021646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.021646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911496; longitude = -117.756637; captureRadius = 10; duration = 244; initialDepth = 1000.872289; finalDepth = 1001.021646; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1001.021646 # Seafloor depth: -1051.021646 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 122.118405 meters # Minimum depth: 1050.872289 meters looking forward 100.000000 meters along route # Maximum depth: 1051.055097 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.872289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910872; longitude = -117.757713; captureRadius = 10; duration = 244; initialDepth = 1001.659505; finalDepth = 1000.872289; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1000.872289 # Seafloor depth: -1050.872289 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 122.119003 meters # Minimum depth: 1051.659505 meters looking forward 100.000000 meters along route # Maximum depth: 1051.875201 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.659505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910249; longitude = -117.758790; captureRadius = 10; duration = 244; initialDepth = 1001.892172; finalDepth = 1001.659505; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1001.659505 # Seafloor depth: -1051.659505 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 136.649891 meters # Minimum depth: 1051.892172 meters looking forward 100.000000 meters along route # Maximum depth: 1052.155196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.892172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909625; longitude = -117.759866; captureRadius = 10; duration = 273; initialDepth = 1001.558173; finalDepth = 1001.892172; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2630239999999 # Actual altitude: 50.2630239999999 # Commanded vehicle depth: 1001.892172 # Seafloor depth: -1052.155196 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.11; MB_Bottom_Detect_Filter_Max_Range = 201.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 107.589916 meters # Minimum depth: 1051.558173 meters looking forward 100.000000 meters along route # Maximum depth: 1051.558173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.558173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908927; longitude = -117.761070; captureRadius = 10; duration = 215; initialDepth = 998.312445; finalDepth = 1001.558173; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2630239999999 # Actual altitude: 50.2630239999999 # Commanded vehicle depth: 1001.558173 # Seafloor depth: -1051.558173 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.11; MB_Bottom_Detect_Filter_Max_Range = 201.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 122.120802 meters # Minimum depth: 1048.312445 meters looking forward 100.000000 meters along route # Maximum depth: 1049.840934 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.312445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908377; longitude = -117.762019; captureRadius = 10; duration = 244; initialDepth = 997.478694; finalDepth = 998.312445; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.528489 # Actual altitude: 51.528489 # Commanded vehicle depth: 998.312445 # Seafloor depth: -1049.840934 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 123.362484 meters # Minimum depth: 1047.478694 meters looking forward 100.000000 meters along route # Maximum depth: 1047.795512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.478694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907754; longitude = -117.763095; captureRadius = 10; duration = 246; initialDepth = 997.461646; finalDepth = 997.478694; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.528489 # Actual altitude: 51.528489 # Commanded vehicle depth: 997.478694 # Seafloor depth: -1047.795512 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 120.880919 meters # Minimum depth: 1047.461646 meters looking forward 100.000000 meters along route # Maximum depth: 1047.461646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.461646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907124; longitude = -117.764182; captureRadius = 10; duration = 241; initialDepth = 995.962236; finalDepth = 997.461646; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.316818 # Actual altitude: 50.316818 # Commanded vehicle depth: 997.461646 # Seafloor depth: -1047.461646 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 122.122601 meters # Minimum depth: 1045.962236 meters looking forward 100.000000 meters along route # Maximum depth: 1046.853763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.962236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906506; longitude = -117.765248; captureRadius = 10; duration = 244; initialDepth = 995.232954; finalDepth = 995.962236; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.891527 # Actual altitude: 50.891527 # Commanded vehicle depth: 995.962236 # Seafloor depth: -1046.853763 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 122.123201 meters # Minimum depth: 1045.232954 meters looking forward 100.000000 meters along route # Maximum depth: 1046.840434 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.232954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905882; longitude = -117.766324; captureRadius = 10; duration = 244; initialDepth = 996.964140; finalDepth = 995.232954; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.891527 # Actual altitude: 50.891527 # Commanded vehicle depth: 995.232954 # Seafloor depth: -1045.232954 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 122.123800 meters # Minimum depth: 1046.964140 meters looking forward 100.000000 meters along route # Maximum depth: 1046.964140 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.964140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905259; longitude = -117.767400; captureRadius = 10; duration = 244; initialDepth = 998.252253; finalDepth = 996.964140; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 996.96414 # Seafloor depth: -1046.964140 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 122.124400 meters # Minimum depth: 1048.252253 meters looking forward 100.000000 meters along route # Maximum depth: 1048.570811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.252253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904635; longitude = -117.768476; captureRadius = 10; duration = 244; initialDepth = 998.129622; finalDepth = 998.252253; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 998.252253 # Seafloor depth: -1048.252253 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 122.125000 meters # Minimum depth: 1048.129622 meters looking forward 100.000000 meters along route # Maximum depth: 1048.500320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.129622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904011; longitude = -117.769553; captureRadius = 10; duration = 244; initialDepth = 998.603202; finalDepth = 998.129622; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 998.129622 # Seafloor depth: -1048.129622 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 122.125599 meters # Minimum depth: 1048.603202 meters looking forward 100.000000 meters along route # Maximum depth: 1048.603202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.603202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903387; longitude = -117.770629; captureRadius = 10; duration = 244; initialDepth = 999.835278; finalDepth = 998.603202; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 998.603202 # Seafloor depth: -1048.603202 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 122.126199 meters # Minimum depth: 1049.835278 meters looking forward 100.000000 meters along route # Maximum depth: 1049.958956 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.835278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902763; longitude = -117.771705; captureRadius = 10; duration = 244; initialDepth = 995.184529; finalDepth = 999.835278; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 999.835278 # Seafloor depth: -1049.835278 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 122.126799 meters # Minimum depth: 1045.184529 meters looking forward 100.000000 meters along route # Maximum depth: 1049.949825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.184529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902140; longitude = -117.772782; captureRadius = 10; duration = 244; initialDepth = 992.413420; finalDepth = 995.184529; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7652959999998 # Actual altitude: 54.7652959999998 # Commanded vehicle depth: 995.184529 # Seafloor depth: -1049.949825 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 219.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.91; MB_Bottom_Detect_Filter_Max_Range = 219.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 137.917160 meters # Minimum depth: 1042.413420 meters looking forward 100.000000 meters along route # Maximum depth: 1043.706978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.413420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901516; longitude = -117.773858; captureRadius = 10; duration = 275; initialDepth = 994.536243; finalDepth = 992.413420; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7652959999998 # Actual altitude: 54.7652959999998 # Commanded vehicle depth: 992.41342 # Seafloor depth: -1042.413420 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 219.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.91; MB_Bottom_Detect_Filter_Max_Range = 219.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 106.338237 meters # Minimum depth: 1044.536243 meters looking forward 100.000000 meters along route # Maximum depth: 1044.536243 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.536243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900812; longitude = -117.775073; captureRadius = 10; duration = 212; initialDepth = 999.749793; finalDepth = 994.536243; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 994.536243 # Seafloor depth: -1044.536243 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 122.128598 meters # Minimum depth: 1049.749793 meters looking forward 100.000000 meters along route # Maximum depth: 1050.427350 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.749793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900268; longitude = -117.776011; captureRadius = 10; duration = 244; initialDepth = 1000.839195; finalDepth = 999.749793; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 999.749793 # Seafloor depth: -1049.749793 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 124.628924 meters # Minimum depth: 1050.839195 meters looking forward 100.000000 meters along route # Maximum depth: 1052.696472 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.839195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899645; longitude = -117.777087; captureRadius = 10; duration = 249; initialDepth = 1002.727263; finalDepth = 1000.839195; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1000.839195 # Seafloor depth: -1050.839195 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 119.630072 meters # Minimum depth: 1052.727263 meters looking forward 100.000000 meters along route # Maximum depth: 1052.727263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.727263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899008; longitude = -117.778185; captureRadius = 10; duration = 239; initialDepth = 1006.047444; finalDepth = 1002.727263; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1002.727263 # Seafloor depth: -1052.727263 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 122.130397 meters # Minimum depth: 1056.047444 meters looking forward 100.000000 meters along route # Maximum depth: 1057.207709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.047444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898397; longitude = -117.779239; captureRadius = 10; duration = 244; initialDepth = 1008.272266; finalDepth = 1006.047444; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1006.047444 # Seafloor depth: -1056.047444 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 122.130998 meters # Minimum depth: 1058.272266 meters looking forward 100.000000 meters along route # Maximum depth: 1059.405808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.272266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897773; longitude = -117.780316; captureRadius = 10; duration = 244; initialDepth = 1009.423338; finalDepth = 1008.272266; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1008.272266 # Seafloor depth: -1058.272266 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 122.131597 meters # Minimum depth: 1059.423338 meters looking forward 100.000000 meters along route # Maximum depth: 1059.423338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.423338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897150; longitude = -117.781392; captureRadius = 10; duration = 244; initialDepth = 1011.723988; finalDepth = 1009.423338; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1009.423338 # Seafloor depth: -1059.423338 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 122.132198 meters # Minimum depth: 1061.723988 meters looking forward 100.000000 meters along route # Maximum depth: 1062.530856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.723988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896526; longitude = -117.782468; captureRadius = 10; duration = 244; initialDepth = 1006.341623; finalDepth = 1011.723988; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8068680000001 # Actual altitude: 50.8068680000001 # Commanded vehicle depth: 1011.723988 # Seafloor depth: -1062.530856 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 122.132797 meters # Minimum depth: 1056.341623 meters looking forward 100.000000 meters along route # Maximum depth: 1057.441938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.341623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895902; longitude = -117.783545; captureRadius = 10; duration = 244; initialDepth = 1006.094795; finalDepth = 1006.341623; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1003149999999 # Actual altitude: 51.1003149999999 # Commanded vehicle depth: 1006.341623 # Seafloor depth: -1057.441938 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 204.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 122.133398 meters # Minimum depth: 1056.094795 meters looking forward 100.000000 meters along route # Maximum depth: 1056.094795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.094795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895278; longitude = -117.784621; captureRadius = 10; duration = 244; initialDepth = 1002.202150; finalDepth = 1006.094795; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1003149999999 # Actual altitude: 51.1003149999999 # Commanded vehicle depth: 1006.094795 # Seafloor depth: -1056.094795 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 204.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 122.133997 meters # Minimum depth: 1052.202150 meters looking forward 100.000000 meters along route # Maximum depth: 1052.618594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.202150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894655; longitude = -117.785697; captureRadius = 10; duration = 244; initialDepth = 1003.390465; finalDepth = 1002.202150; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.416444 # Actual altitude: 50.416444 # Commanded vehicle depth: 1002.20215 # Seafloor depth: -1052.618594 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 122.134597 meters # Minimum depth: 1053.390465 meters looking forward 100.000000 meters along route # Maximum depth: 1054.037807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.390465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894031; longitude = -117.786773; captureRadius = 10; duration = 244; initialDepth = 1003.904270; finalDepth = 1003.390465; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.416444 # Actual altitude: 50.416444 # Commanded vehicle depth: 1003.390465 # Seafloor depth: -1053.390465 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 139.184595 meters # Minimum depth: 1053.904270 meters looking forward 100.000000 meters along route # Maximum depth: 1054.211189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.904270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893407; longitude = -117.787850; captureRadius = 10; duration = 278; initialDepth = 1003.980749; finalDepth = 1003.904270; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1003.90427 # Seafloor depth: -1053.904270 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 105.086401 meters # Minimum depth: 1053.980749 meters looking forward 100.000000 meters along route # Maximum depth: 1053.980749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.980749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892696; longitude = -117.789076; captureRadius = 10; duration = 210; initialDepth = 1003.394414; finalDepth = 1003.980749; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1003.980749 # Seafloor depth: -1053.980749 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 122.136397 meters # Minimum depth: 1053.394414 meters looking forward 100.000000 meters along route # Maximum depth: 1053.908697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.394414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892159; longitude = -117.790002; captureRadius = 10; duration = 244; initialDepth = 1003.790161; finalDepth = 1003.394414; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1003.394414 # Seafloor depth: -1053.394414 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 125.895529 meters # Minimum depth: 1053.790161 meters looking forward 100.000000 meters along route # Maximum depth: 1053.997966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.790161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891536; longitude = -117.791079; captureRadius = 10; duration = 251; initialDepth = 1003.771223; finalDepth = 1003.790161; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.207805 # Actual altitude: 50.207805 # Commanded vehicle depth: 1003.790161 # Seafloor depth: -1053.997966 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 118.379067 meters # Minimum depth: 1053.771223 meters looking forward 100.000000 meters along route # Maximum depth: 1053.771223 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.771223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890893; longitude = -117.792188; captureRadius = 10; duration = 236; initialDepth = 1003.564834; finalDepth = 1003.771223; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.207805 # Actual altitude: 50.207805 # Commanded vehicle depth: 1003.771223 # Seafloor depth: -1053.771223 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 122.138198 meters # Minimum depth: 1053.564834 meters looking forward 100.000000 meters along route # Maximum depth: 1053.865875 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.564834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890288; longitude = -117.793231; captureRadius = 10; duration = 244; initialDepth = 1003.305285; finalDepth = 1003.564834; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3010409999999 # Actual altitude: 50.3010409999999 # Commanded vehicle depth: 1003.564834 # Seafloor depth: -1053.865875 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 122.138799 meters # Minimum depth: 1053.305285 meters looking forward 100.000000 meters along route # Maximum depth: 1053.325036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.305285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889664; longitude = -117.794308; captureRadius = 10; duration = 244; initialDepth = 1003.201249; finalDepth = 1003.305285; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3010409999999 # Actual altitude: 50.3010409999999 # Commanded vehicle depth: 1003.305285 # Seafloor depth: -1053.305285 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 122.139398 meters # Minimum depth: 1053.201249 meters looking forward 100.000000 meters along route # Maximum depth: 1053.201249 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.201249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889041; longitude = -117.795384; captureRadius = 10; duration = 244; initialDepth = 1000.821689; finalDepth = 1003.201249; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1003.201249 # Seafloor depth: -1053.201249 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 135.968086 meters # Minimum depth: 1050.821689 meters looking forward 100.000000 meters along route # Maximum depth: 1051.930703 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.821689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.888417; longitude = -117.796460; captureRadius = 10; duration = 271; initialDepth = 999.858744; finalDepth = 1000.821689; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.1090139999999 # Actual altitude: 51.1090139999999 # Commanded vehicle depth: 1000.821689 # Seafloor depth: -1051.930703 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 204.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 204.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 150.000000 meters # Minimum depth: 1049.858744 meters looking forward 100.000000 meters along route # Maximum depth: 1049.896912 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.858744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.887722; longitude = -117.797658; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 999.069275; finalDepth = 999.858744; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 51.1090139999999 # Actual altitude: 51.1090139999999 # Commanded vehicle depth: 999.858744 # Seafloor depth: -1049.896912 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 204.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 204.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 155.027754 meters # Minimum depth: 1049.069275 meters looking forward 100.000000 meters along route # Maximum depth: 1051.460836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.069275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.886607; longitude = -117.796750; captureRadius = 10; duration = 310; # abortOnTimeout = True; initialDepth = 1001.922225; finalDepth = 999.069275; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.038168 # Actual altitude: 50.038168 # Commanded vehicle depth: 999.069275 # Seafloor depth: -1049.069275 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 122.140076 meters # Minimum depth: 1051.922225 meters looking forward 100.000000 meters along route # Maximum depth: 1051.922225 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.922225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.887399; longitude = -117.795384; captureRadius = 10; duration = 244; initialDepth = 1003.435895; finalDepth = 1001.922225; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1001.922225 # Seafloor depth: -1051.922225 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 122.139475 meters # Minimum depth: 1053.435895 meters looking forward 100.000000 meters along route # Maximum depth: 1053.547538 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.435895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.888023; longitude = -117.794308; captureRadius = 10; duration = 244; initialDepth = 1003.642152; finalDepth = 1003.435895; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1003.435895 # Seafloor depth: -1053.435895 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 122.138875 meters # Minimum depth: 1053.642152 meters looking forward 100.000000 meters along route # Maximum depth: 1053.903725 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.642152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.888647; longitude = -117.793231; captureRadius = 10; duration = 244; initialDepth = 1003.769994; finalDepth = 1003.642152; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1003.642152 # Seafloor depth: -1053.642152 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 141.086122 meters # Minimum depth: 1053.769994 meters looking forward 100.000000 meters along route # Maximum depth: 1054.189331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.769994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889270; longitude = -117.792155; captureRadius = 10; duration = 282; initialDepth = 1003.924528; finalDepth = 1003.769994; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1003.769994 # Seafloor depth: -1053.769994 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.189827 meters # Minimum depth: 1053.924528 meters looking forward 100.000000 meters along route # Maximum depth: 1053.924528 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.924528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889991; longitude = -117.790912; captureRadius = 10; duration = 206; initialDepth = 1003.103565; finalDepth = 1003.924528; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1003.924528 # Seafloor depth: -1053.924528 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 122.137075 meters # Minimum depth: 1053.103565 meters looking forward 100.000000 meters along route # Maximum depth: 1053.334879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.103565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890518; longitude = -117.790002; captureRadius = 10; duration = 244; initialDepth = 1002.769921; finalDepth = 1003.103565; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2313140000001 # Actual altitude: 50.2313140000001 # Commanded vehicle depth: 1003.103565 # Seafloor depth: -1053.334879 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 127.795252 meters # Minimum depth: 1052.769921 meters looking forward 100.000000 meters along route # Maximum depth: 1052.831991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.769921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891142; longitude = -117.788926; captureRadius = 10; duration = 255; initialDepth = 1002.841539; finalDepth = 1002.769921; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2313140000001 # Actual altitude: 50.2313140000001 # Commanded vehicle depth: 1002.769921 # Seafloor depth: -1052.769921 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 116.477097 meters # Minimum depth: 1052.841539 meters looking forward 100.000000 meters along route # Maximum depth: 1052.841539 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.841539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891794; longitude = -117.787800; captureRadius = 10; duration = 232; initialDepth = 1004.130950; finalDepth = 1002.841539; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1002.841539 # Seafloor depth: -1052.841539 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 122.135274 meters # Minimum depth: 1054.130950 meters looking forward 100.000000 meters along route # Maximum depth: 1054.347792 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.130950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892389; longitude = -117.786773; captureRadius = 10; duration = 244; initialDepth = 1001.647638; finalDepth = 1004.130950; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1004.13095 # Seafloor depth: -1054.130950 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 122.134675 meters # Minimum depth: 1051.647638 meters looking forward 100.000000 meters along route # Maximum depth: 1053.764661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.647638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893013; longitude = -117.785697; captureRadius = 10; duration = 244; initialDepth = 1001.630313; finalDepth = 1001.647638; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.117023 # Actual altitude: 52.117023 # Commanded vehicle depth: 1001.647638 # Seafloor depth: -1053.764661 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 208.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 122.134074 meters # Minimum depth: 1051.630313 meters looking forward 100.000000 meters along route # Maximum depth: 1051.630313 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.630313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893637; longitude = -117.784621; captureRadius = 10; duration = 244; initialDepth = 1005.392806; finalDepth = 1001.630313; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.117023 # Actual altitude: 52.117023 # Commanded vehicle depth: 1001.630313 # Seafloor depth: -1051.630313 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 208.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 122.133475 meters # Minimum depth: 1055.392806 meters looking forward 100.000000 meters along route # Maximum depth: 1060.111567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.392806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894261; longitude = -117.783545; captureRadius = 10; duration = 244; initialDepth = 1015.025129; finalDepth = 1005.392806; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1005.392806 # Seafloor depth: -1055.392806 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 122.132875 meters # Minimum depth: 1065.025129 meters looking forward 100.000000 meters along route # Maximum depth: 1066.140502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.025129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894884; longitude = -117.782468; captureRadius = 10; duration = 244; initialDepth = 1016.323465; finalDepth = 1015.025129; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1015.025129 # Seafloor depth: -1065.025129 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 122.132274 meters # Minimum depth: 1066.323465 meters looking forward 100.000000 meters along route # Maximum depth: 1066.323465 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.323465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895508; longitude = -117.781392; captureRadius = 10; duration = 244; initialDepth = 1010.620473; finalDepth = 1016.323465; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1016.323465 # Seafloor depth: -1066.323465 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 122.131675 meters # Minimum depth: 1060.620473 meters looking forward 100.000000 meters along route # Maximum depth: 1061.228332 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.620473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896132; longitude = -117.780316; captureRadius = 10; duration = 244; initialDepth = 1007.035491; finalDepth = 1010.620473; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.607859 # Actual altitude: 50.607859 # Commanded vehicle depth: 1010.620473 # Seafloor depth: -1061.228332 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 122.131075 meters # Minimum depth: 1057.035491 meters looking forward 100.000000 meters along route # Maximum depth: 1058.917813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.035491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896756; longitude = -117.779239; captureRadius = 10; duration = 244; initialDepth = 1004.107606; finalDepth = 1007.035491; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8823219999999 # Actual altitude: 51.8823219999999 # Commanded vehicle depth: 1007.035491 # Seafloor depth: -1058.917813 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 142.345552 meters # Minimum depth: 1054.107606 meters looking forward 100.000000 meters along route # Maximum depth: 1056.235152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.107606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897379; longitude = -117.778163; captureRadius = 10; duration = 284; initialDepth = 1004.024841; finalDepth = 1004.107606; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1275459999999 # Actual altitude: 52.1275459999999 # Commanded vehicle depth: 1004.107606 # Seafloor depth: -1056.235152 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 208.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.914799 meters # Minimum depth: 1054.024841 meters looking forward 100.000000 meters along route # Maximum depth: 1054.024841 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.024841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898106; longitude = -117.776909; captureRadius = 10; duration = 203; initialDepth = 1002.741521; finalDepth = 1004.024841; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1275459999999 # Actual altitude: 52.1275459999999 # Commanded vehicle depth: 1004.024841 # Seafloor depth: -1054.024841 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 208.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 122.129276 meters # Minimum depth: 1052.741521 meters looking forward 100.000000 meters along route # Maximum depth: 1053.113681 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.741521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898627; longitude = -117.776011; captureRadius = 10; duration = 244; initialDepth = 1000.228181; finalDepth = 1002.741521; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3721600000001 # Actual altitude: 50.3721600000001 # Commanded vehicle depth: 1002.741521 # Seafloor depth: -1053.113681 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 129.055513 meters # Minimum depth: 1050.228181 meters looking forward 100.000000 meters along route # Maximum depth: 1052.591458 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.228181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899251; longitude = -117.774934; captureRadius = 10; duration = 258; initialDepth = 1000.094498; finalDepth = 1000.228181; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3632770000002 # Actual altitude: 52.3632770000002 # Commanded vehicle depth: 1000.228181 # Seafloor depth: -1052.591458 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.95; MB_Bottom_Detect_Filter_Max_Range = 209.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 115.201239 meters # Minimum depth: 1050.094498 meters looking forward 100.000000 meters along route # Maximum depth: 1050.094498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.094498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899910; longitude = -117.773797; captureRadius = 10; duration = 230; initialDepth = 1000.786753; finalDepth = 1000.094498; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3632770000002 # Actual altitude: 52.3632770000002 # Commanded vehicle depth: 1000.094498 # Seafloor depth: -1050.094498 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.95; MB_Bottom_Detect_Filter_Max_Range = 209.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 122.127476 meters # Minimum depth: 1050.786753 meters looking forward 100.000000 meters along route # Maximum depth: 1053.521588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.786753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900498; longitude = -117.772782; captureRadius = 10; duration = 244; initialDepth = 1006.113573; finalDepth = 1000.786753; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1000.786753 # Seafloor depth: -1050.786753 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 122.126877 meters # Minimum depth: 1056.113573 meters looking forward 100.000000 meters along route # Maximum depth: 1057.106581 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.113573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901122; longitude = -117.771705; captureRadius = 10; duration = 244; initialDepth = 1007.067128; finalDepth = 1006.113573; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1006.113573 # Seafloor depth: -1056.113573 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 122.126277 meters # Minimum depth: 1057.067128 meters looking forward 100.000000 meters along route # Maximum depth: 1057.067128 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.067128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901746; longitude = -117.770629; captureRadius = 10; duration = 244; initialDepth = 1005.271412; finalDepth = 1007.067128; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1007.067128 # Seafloor depth: -1057.067128 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 122.125677 meters # Minimum depth: 1055.271412 meters looking forward 100.000000 meters along route # Maximum depth: 1055.575730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.271412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902370; longitude = -117.769553; captureRadius = 10; duration = 244; initialDepth = 1005.281956; finalDepth = 1005.271412; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.304318 # Actual altitude: 50.304318 # Commanded vehicle depth: 1005.271412 # Seafloor depth: -1055.575730 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 122.125078 meters # Minimum depth: 1055.281956 meters looking forward 100.000000 meters along route # Maximum depth: 1055.815663 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.281956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902993; longitude = -117.768476; captureRadius = 10; duration = 244; initialDepth = 1005.717005; finalDepth = 1005.281956; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.304318 # Actual altitude: 50.304318 # Commanded vehicle depth: 1005.281956 # Seafloor depth: -1055.281956 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 122.124478 meters # Minimum depth: 1055.717005 meters looking forward 100.000000 meters along route # Maximum depth: 1055.717005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.717005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903617; longitude = -117.767400; captureRadius = 10; duration = 244; initialDepth = 1004.811357; finalDepth = 1005.717005; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1005.717005 # Seafloor depth: -1055.717005 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 122.123879 meters # Minimum depth: 1054.811357 meters looking forward 100.000000 meters along route # Maximum depth: 1055.061840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.811357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904241; longitude = -117.766324; captureRadius = 10; duration = 244; initialDepth = 1004.188304; finalDepth = 1004.811357; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.250483 # Actual altitude: 50.250483 # Commanded vehicle depth: 1004.811357 # Seafloor depth: -1055.061840 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 201.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 122.123279 meters # Minimum depth: 1054.188304 meters looking forward 100.000000 meters along route # Maximum depth: 1054.260939 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.188304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904865; longitude = -117.765248; captureRadius = 10; duration = 244; initialDepth = 1004.123608; finalDepth = 1004.188304; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.250483 # Actual altitude: 50.250483 # Commanded vehicle depth: 1004.188304 # Seafloor depth: -1054.260939 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 201.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 143.604822 meters # Minimum depth: 1054.123608 meters looking forward 100.000000 meters along route # Maximum depth: 1054.340726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.123608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905488; longitude = -117.764171; captureRadius = 10; duration = 287; initialDepth = 1004.219699; finalDepth = 1004.123608; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.072635 # Actual altitude: 50.072635 # Commanded vehicle depth: 1004.123608 # Seafloor depth: -1054.123608 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.639937 meters # Minimum depth: 1054.219699 meters looking forward 100.000000 meters along route # Maximum depth: 1054.219699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.219699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906222; longitude = -117.762906; captureRadius = 10; duration = 201; initialDepth = 1002.998420; finalDepth = 1004.219699; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1004.219699 # Seafloor depth: -1054.219699 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 122.121481 meters # Minimum depth: 1052.998420 meters looking forward 100.000000 meters along route # Maximum depth: 1053.399271 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.998420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906736; longitude = -117.762019; captureRadius = 10; duration = 244; initialDepth = 1002.471157; finalDepth = 1002.998420; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4008510000001 # Actual altitude: 50.4008510000001 # Commanded vehicle depth: 1002.99842 # Seafloor depth: -1053.399271 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.16; MB_Bottom_Detect_Filter_Max_Range = 201.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 130.315615 meters # Minimum depth: 1052.471157 meters looking forward 100.000000 meters along route # Maximum depth: 1052.800103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.471157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907360; longitude = -117.760942; captureRadius = 10; duration = 260; initialDepth = 1002.382087; finalDepth = 1002.471157; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4008510000001 # Actual altitude: 50.4008510000001 # Commanded vehicle depth: 1002.471157 # Seafloor depth: -1052.800103 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.16; MB_Bottom_Detect_Filter_Max_Range = 201.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 113.925547 meters # Minimum depth: 1052.382087 meters looking forward 100.000000 meters along route # Maximum depth: 1052.382087 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.382087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908025; longitude = -117.759794; captureRadius = 10; duration = 227; initialDepth = 1001.657343; finalDepth = 1002.382087; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3289460000001 # Actual altitude: 50.3289460000001 # Commanded vehicle depth: 1002.382087 # Seafloor depth: -1052.382087 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 122.119683 meters # Minimum depth: 1051.657343 meters looking forward 100.000000 meters along route # Maximum depth: 1051.666096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.657343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908607; longitude = -117.758790; captureRadius = 10; duration = 244; initialDepth = 1001.637998; finalDepth = 1001.657343; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1001.657343 # Seafloor depth: -1051.657343 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 122.119082 meters # Minimum depth: 1051.637998 meters looking forward 100.000000 meters along route # Maximum depth: 1051.902330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.637998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909231; longitude = -117.757713; captureRadius = 10; duration = 244; initialDepth = 1001.897991; finalDepth = 1001.637998; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1001.637998 # Seafloor depth: -1051.637998 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 122.118484 meters # Minimum depth: 1051.897991 meters looking forward 100.000000 meters along route # Maximum depth: 1051.897991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.897991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909855; longitude = -117.756637; captureRadius = 10; duration = 244; initialDepth = 1001.146433; finalDepth = 1001.897991; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1001.897991 # Seafloor depth: -1051.897991 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 122.117884 meters # Minimum depth: 1051.146433 meters looking forward 100.000000 meters along route # Maximum depth: 1051.453642 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.146433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910478; longitude = -117.755561; captureRadius = 10; duration = 244; initialDepth = 997.600518; finalDepth = 1001.146433; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1001.146433 # Seafloor depth: -1051.146433 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 122.117285 meters # Minimum depth: 1047.600518 meters looking forward 100.000000 meters along route # Maximum depth: 1051.061441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.600518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911102; longitude = -117.754485; captureRadius = 10; duration = 244; initialDepth = 997.223997; finalDepth = 997.600518; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4609230000001 # Actual altitude: 53.4609230000001 # Commanded vehicle depth: 997.600518 # Seafloor depth: -1051.061441 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 213.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.38; MB_Bottom_Detect_Filter_Max_Range = 213.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 122.116685 meters # Minimum depth: 1047.223997 meters looking forward 100.000000 meters along route # Maximum depth: 1047.223997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.223997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911726; longitude = -117.753408; captureRadius = 10; duration = 244; initialDepth = 994.033212; finalDepth = 997.223997; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4609230000001 # Actual altitude: 53.4609230000001 # Commanded vehicle depth: 997.223997 # Seafloor depth: -1047.223997 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 213.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.38; MB_Bottom_Detect_Filter_Max_Range = 213.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 122.116086 meters # Minimum depth: 1044.033212 meters looking forward 100.000000 meters along route # Maximum depth: 1044.929827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.033212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912350; longitude = -117.752332; captureRadius = 10; duration = 244; initialDepth = 988.600930; finalDepth = 994.033212; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8966149999999 # Actual altitude: 50.8966149999999 # Commanded vehicle depth: 994.033212 # Seafloor depth: -1044.929827 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 122.115487 meters # Minimum depth: 1038.600930 meters looking forward 100.000000 meters along route # Maximum depth: 1040.097268 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.600930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912974; longitude = -117.751256; captureRadius = 10; duration = 244; initialDepth = 986.898354; finalDepth = 988.600930; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4963379999999 # Actual altitude: 51.4963379999999 # Commanded vehicle depth: 988.60093 # Seafloor depth: -1040.097268 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 205.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 122.114888 meters # Minimum depth: 1036.898354 meters looking forward 100.000000 meters along route # Maximum depth: 1036.898354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.898354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913597; longitude = -117.750179; captureRadius = 10; duration = 244; initialDepth = 975.684934; finalDepth = 986.898354; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4963379999999 # Actual altitude: 51.4963379999999 # Commanded vehicle depth: 986.898354 # Seafloor depth: -1036.898354 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 205.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 122.114288 meters # Minimum depth: 1025.684934 meters looking forward 100.000000 meters along route # Maximum depth: 1028.626938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.684934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914221; longitude = -117.749103; captureRadius = 10; duration = 244; initialDepth = 968.738512; finalDepth = 975.684934; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.942004 # Actual altitude: 52.942004 # Commanded vehicle depth: 975.684934 # Seafloor depth: -1028.626938 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 211.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 122.113689 meters # Minimum depth: 1018.738512 meters looking forward 100.000000 meters along route # Maximum depth: 1019.667596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.738512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914845; longitude = -117.748027; captureRadius = 10; duration = 244; initialDepth = 960.488769; finalDepth = 968.738512; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.942004 # Actual altitude: 52.942004 # Commanded vehicle depth: 968.738512 # Seafloor depth: -1018.738512 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 211.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 131.575560 meters # Minimum depth: 1010.488769 meters looking forward 100.000000 meters along route # Maximum depth: 1019.877680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.488769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915469; longitude = -117.746950; captureRadius = 10; duration = 263; initialDepth = 953.744934; finalDepth = 960.488769; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.388911 # Actual altitude: 59.388911 # Commanded vehicle depth: 960.488769 # Seafloor depth: -1019.877680 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 237.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.76; MB_Bottom_Detect_Filter_Max_Range = 237.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 160.953604 meters # Minimum depth: 1003.744934 meters looking forward 100.000000 meters along route # Maximum depth: 1009.795338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.744934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916141; longitude = -117.745791; captureRadius = 10; duration = 321; initialDepth = 959.372299; finalDepth = 953.744934; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 59.388911 # Actual altitude: 59.388911 # Commanded vehicle depth: 953.744934 # Seafloor depth: -1009.795338 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 237.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.76; MB_Bottom_Detect_Filter_Max_Range = 237.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 183.867445 meters # Minimum depth: 1009.372299 meters looking forward 100.000000 meters along route # Maximum depth: 1017.298846 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.372299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916963; longitude = -117.744372; captureRadius = 10; duration = 367; # abortOnTimeout = True; initialDepth = 970.818278; finalDepth = 959.372299; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 56.0504040000001 # Actual altitude: 56.0504040000001 # Commanded vehicle depth: 959.372299 # Seafloor depth: -1009.372299 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 224.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.42; MB_Bottom_Detect_Filter_Max_Range = 224.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 160.948018 meters # Minimum depth: 1020.818278 meters looking forward 100.000000 meters along route # Maximum depth: 1020.818278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.818278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915540; longitude = -117.743363; captureRadius = 10; duration = 321; # abortOnTimeout = True; initialDepth = 975.089016; finalDepth = 970.818278; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 970.818278 # Seafloor depth: -1020.818278 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 120.711696 meters # Minimum depth: 1025.089016 meters looking forward 100.000000 meters along route # Maximum depth: 1026.132853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.089016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914738; longitude = -117.744798; captureRadius = 10; duration = 241; initialDepth = 976.279555; finalDepth = 975.089016; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 975.089016 # Seafloor depth: -1025.089016 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 140.831050 meters # Minimum depth: 1026.279555 meters looking forward 100.000000 meters along route # Maximum depth: 1029.023797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.279555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914137; longitude = -117.745874; captureRadius = 10; duration = 281; initialDepth = 979.983053; finalDepth = 976.279555; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 976.279555 # Seafloor depth: -1026.279555 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.594095 meters # Minimum depth: 1029.983053 meters looking forward 100.000000 meters along route # Maximum depth: 1029.983053 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.983053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913436; longitude = -117.747130; captureRadius = 10; duration = 201; initialDepth = 987.312595; finalDepth = 979.983053; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 979.983053 # Seafloor depth: -1029.983053 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 120.713450 meters # Minimum depth: 1037.312595 meters looking forward 100.000000 meters along route # Maximum depth: 1045.940063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.312595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912935; longitude = -117.748027; captureRadius = 10; duration = 241; initialDepth = 996.740289; finalDepth = 987.312595; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 987.312595 # Seafloor depth: -1037.312595 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 140.833096 meters # Minimum depth: 1046.740289 meters looking forward 100.000000 meters along route # Maximum depth: 1047.231269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.740289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912333; longitude = -117.749103; captureRadius = 10; duration = 281; initialDepth = 997.568380; finalDepth = 996.740289; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 996.740289 # Seafloor depth: -1046.740289 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.595557 meters # Minimum depth: 1047.568380 meters looking forward 100.000000 meters along route # Maximum depth: 1047.568380 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.568380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911632; longitude = -117.750359; captureRadius = 10; duration = 201; initialDepth = 995.528768; finalDepth = 997.568380; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 997.56838 # Seafloor depth: -1047.568380 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 120.715204 meters # Minimum depth: 1045.528768 meters looking forward 100.000000 meters along route # Maximum depth: 1046.819377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.528768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911131; longitude = -117.751256; captureRadius = 10; duration = 241; initialDepth = 995.936117; finalDepth = 995.528768; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2906090000001 # Actual altitude: 51.2906090000001 # Commanded vehicle depth: 995.528768 # Seafloor depth: -1046.819377 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 140.835143 meters # Minimum depth: 1045.936117 meters looking forward 100.000000 meters along route # Maximum depth: 1049.714708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.936117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910530; longitude = -117.752332; captureRadius = 10; duration = 281; initialDepth = 999.928670; finalDepth = 995.936117; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2906090000001 # Actual altitude: 51.2906090000001 # Commanded vehicle depth: 995.936117 # Seafloor depth: -1045.936117 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.597019 meters # Minimum depth: 1049.928670 meters looking forward 100.000000 meters along route # Maximum depth: 1049.928670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.928670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909829; longitude = -117.753588; captureRadius = 10; duration = 201; initialDepth = 1001.052056; finalDepth = 999.928670; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 999.92867 # Seafloor depth: -1049.928670 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 120.716958 meters # Minimum depth: 1051.052056 meters looking forward 100.000000 meters along route # Maximum depth: 1051.336507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.052056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909328; longitude = -117.754485; captureRadius = 10; duration = 241; initialDepth = 1001.409030; finalDepth = 1001.052056; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1001.052056 # Seafloor depth: -1051.052056 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 140.837191 meters # Minimum depth: 1051.409030 meters looking forward 100.000000 meters along route # Maximum depth: 1051.637099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.409030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908727; longitude = -117.755561; captureRadius = 10; duration = 281; initialDepth = 1001.397257; finalDepth = 1001.409030; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.228069 # Actual altitude: 50.228069 # Commanded vehicle depth: 1001.40903 # Seafloor depth: -1051.637099 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 181.077557 meters # Minimum depth: 1051.397257 meters looking forward 100.000000 meters along route # Maximum depth: 1051.714030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.397257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908025; longitude = -117.756817; captureRadius = 10; duration = 362; initialDepth = 1002.439941; finalDepth = 1001.397257; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.228069 # Actual altitude: 50.228069 # Commanded vehicle depth: 1001.397257 # Seafloor depth: -1051.397257 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 120.719103 meters # Minimum depth: 1052.439941 meters looking forward 100.000000 meters along route # Maximum depth: 1052.801785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.439941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907124; longitude = -117.758431; captureRadius = 10; duration = 241; initialDepth = 1003.311533; finalDepth = 1002.439941; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1002.439941 # Seafloor depth: -1052.439941 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 165.162280 meters # Minimum depth: 1053.311533 meters looking forward 100.000000 meters along route # Maximum depth: 1053.415527 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.311533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906522; longitude = -117.759507; captureRadius = 10; duration = 330; # abortOnTimeout = True; initialDepth = 1000.535648; finalDepth = 1003.311533; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1039940000001 # Actual altitude: 50.1039940000001 # Commanded vehicle depth: 1003.311533 # Seafloor depth: -1053.415527 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.04; MB_Bottom_Detect_Filter_Max_Range = 200.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 123.871041 meters # Minimum depth: 1050.535648 meters looking forward 100.000000 meters along route # Maximum depth: 1052.771263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.535648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907391; longitude = -117.760942; captureRadius = 10; duration = 247; initialDepth = 1000.461424; finalDepth = 1000.535648; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2356150000001 # Actual altitude: 52.2356150000001 # Commanded vehicle depth: 1000.535648 # Seafloor depth: -1052.771263 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 208.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 123.870469 meters # Minimum depth: 1050.461424 meters looking forward 100.000000 meters along route # Maximum depth: 1050.461424 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.461424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908042; longitude = -117.762019; captureRadius = 10; duration = 247; initialDepth = 990.944439; finalDepth = 1000.461424; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2356150000001 # Actual altitude: 52.2356150000001 # Commanded vehicle depth: 1000.461424 # Seafloor depth: -1050.461424 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 208.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 123.869897 meters # Minimum depth: 1040.944439 meters looking forward 100.000000 meters along route # Maximum depth: 1043.900106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.944439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908693; longitude = -117.763095; captureRadius = 10; duration = 247; initialDepth = 979.531360; finalDepth = 990.944439; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9556669999999 # Actual altitude: 52.9556669999999 # Commanded vehicle depth: 990.944439 # Seafloor depth: -1043.900106 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 211.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 123.869324 meters # Minimum depth: 1029.531360 meters looking forward 100.000000 meters along route # Maximum depth: 1035.325345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.531360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909344; longitude = -117.764171; captureRadius = 10; duration = 247; initialDepth = 972.088815; finalDepth = 979.531360; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.793985 # Actual altitude: 55.793985 # Commanded vehicle depth: 979.53136 # Seafloor depth: -1035.325345 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 223.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.32; MB_Bottom_Detect_Filter_Max_Range = 223.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 139.749319 meters # Minimum depth: 1022.088815 meters looking forward 100.000000 meters along route # Maximum depth: 1027.678833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.088815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909996; longitude = -117.765248; captureRadius = 10; duration = 279; initialDepth = 971.380897; finalDepth = 972.088815; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.793985 # Actual altitude: 55.793985 # Commanded vehicle depth: 972.088815 # Seafloor depth: -1027.678833 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 223.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.32; MB_Bottom_Detect_Filter_Max_Range = 223.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.987611 meters # Minimum depth: 1021.380897 meters looking forward 100.000000 meters along route # Maximum depth: 1021.380897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.380897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910730; longitude = -117.766462; captureRadius = 10; duration = 215; initialDepth = 964.749518; finalDepth = 971.380897; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.590018 # Actual altitude: 55.590018 # Commanded vehicle depth: 971.380897 # Seafloor depth: -1021.380897 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 222.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.24; MB_Bottom_Detect_Filter_Max_Range = 222.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 123.867607 meters # Minimum depth: 1014.749518 meters looking forward 100.000000 meters along route # Maximum depth: 1017.151566 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.749518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911298; longitude = -117.767400; captureRadius = 10; duration = 247; initialDepth = 959.879712; finalDepth = 964.749518; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.402048 # Actual altitude: 52.402048 # Commanded vehicle depth: 964.749518 # Seafloor depth: -1017.151566 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 123.867034 meters # Minimum depth: 1009.879712 meters looking forward 100.000000 meters along route # Maximum depth: 1012.602566 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.879712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911949; longitude = -117.768476; captureRadius = 10; duration = 247; initialDepth = 959.525786; finalDepth = 959.879712; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.722854 # Actual altitude: 52.722854 # Commanded vehicle depth: 959.879712 # Seafloor depth: -1012.602566 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 210.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.09; MB_Bottom_Detect_Filter_Max_Range = 210.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 123.866462 meters # Minimum depth: 1009.525786 meters looking forward 100.000000 meters along route # Maximum depth: 1009.525786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.525786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912601; longitude = -117.769553; captureRadius = 10; duration = 247; initialDepth = 957.717662; finalDepth = 959.525786; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.722854 # Actual altitude: 52.722854 # Commanded vehicle depth: 959.525786 # Seafloor depth: -1009.525786 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 210.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.09; MB_Bottom_Detect_Filter_Max_Range = 210.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 123.865890 meters # Minimum depth: 1007.717662 meters looking forward 100.000000 meters along route # Maximum depth: 1007.722921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.717662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913252; longitude = -117.770629; captureRadius = 10; duration = 247; initialDepth = 958.428541; finalDepth = 957.717662; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 957.717662 # Seafloor depth: -1007.717662 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 123.865317 meters # Minimum depth: 1008.428541 meters looking forward 100.000000 meters along route # Maximum depth: 1008.914978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.428541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913903; longitude = -117.771705; captureRadius = 10; duration = 247; initialDepth = 958.064690; finalDepth = 958.428541; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 958.428541 # Seafloor depth: -1008.428541 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 130.216767 meters # Minimum depth: 1008.064690 meters looking forward 100.000000 meters along route # Maximum depth: 1008.962918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.064690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914554; longitude = -117.772782; captureRadius = 10; duration = 260; initialDepth = 958.063494; finalDepth = 958.064690; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8982279999999 # Actual altitude: 50.8982279999999 # Commanded vehicle depth: 958.06469 # Seafloor depth: -1008.962918 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 117.512150 meters # Minimum depth: 1008.063494 meters looking forward 100.000000 meters along route # Maximum depth: 1008.063494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.063494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915239; longitude = -117.773913; captureRadius = 10; duration = 235; initialDepth = 958.288083; finalDepth = 958.063494; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8982279999999 # Actual altitude: 50.8982279999999 # Commanded vehicle depth: 958.063494 # Seafloor depth: -1008.063494 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 123.863600 meters # Minimum depth: 1008.288083 meters looking forward 100.000000 meters along route # Maximum depth: 1008.442621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.288083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915857; longitude = -117.774934; captureRadius = 10; duration = 247; initialDepth = 958.476004; finalDepth = 958.288083; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.154538 # Actual altitude: 50.154538 # Commanded vehicle depth: 958.288083 # Seafloor depth: -1008.442621 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 123.863028 meters # Minimum depth: 1008.476004 meters looking forward 100.000000 meters along route # Maximum depth: 1009.031946 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.476004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916508; longitude = -117.776011; captureRadius = 10; duration = 247; initialDepth = 959.270600; finalDepth = 958.476004; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.154538 # Actual altitude: 50.154538 # Commanded vehicle depth: 958.476004 # Seafloor depth: -1008.476004 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 206.437108 meters # Minimum depth: 1009.270600 meters looking forward 100.000000 meters along route # Maximum depth: 1012.449100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.270600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917159; longitude = -117.777087; captureRadius = 10; duration = 412; initialDepth = 962.918009; finalDepth = 959.270600; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 959.2706 # Seafloor depth: -1009.270600 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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 241.418752 meters # Minimum depth: 1012.918009 meters looking forward 100.000000 meters along route # Maximum depth: 1013.782796 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.918009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918245; longitude = -117.778881; captureRadius = 10; duration = 482; # abortOnTimeout = True; initialDepth = 962.037028; finalDepth = 962.918009; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.864787 # Actual altitude: 50.864787 # Commanded vehicle depth: 962.918009 # Seafloor depth: -1013.782796 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 120.710255 meters # Minimum depth: 1012.037028 meters looking forward 100.000000 meters along route # Maximum depth: 1012.070435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.037028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917042; longitude = -117.781033; captureRadius = 10; duration = 241; initialDepth = 961.983073; finalDepth = 962.037028; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50.864787 # Actual altitude: 50.864787 # Commanded vehicle depth: 962.037028 # Seafloor depth: -1012.070435 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 203.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 134.862512 meters # Minimum depth: 1011.983073 meters looking forward 100.000000 meters along route # Maximum depth: 1011.983073 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.983073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916441; longitude = -117.782110; captureRadius = 10; duration = 269; # abortOnTimeout = True; initialDepth = 960.071551; finalDepth = 961.983073; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.033407 # Actual altitude: 50.033407 # Commanded vehicle depth: 961.983073 # Seafloor depth: -1011.983073 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.146892 meters # Minimum depth: 1010.071551 meters looking forward 100.000000 meters along route # Maximum depth: 1010.071551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.071551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915239; longitude = -117.781890; captureRadius = 10; duration = 202; initialDepth = 959.419597; finalDepth = 960.071551; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 960.071551 # Seafloor depth: -1010.071551 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.146899 meters # Minimum depth: 1009.419597 meters looking forward 100.000000 meters along route # Maximum depth: 1009.419597 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.419597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914337; longitude = -117.781726; captureRadius = 10; duration = 202; initialDepth = 959.066905; finalDepth = 959.419597; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 959.419597 # Seafloor depth: -1009.419597 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.146906 meters # Minimum depth: 1009.066905 meters looking forward 100.000000 meters along route # Maximum depth: 1009.066905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.066905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913436; longitude = -117.781561; captureRadius = 10; duration = 202; initialDepth = 960.785109; finalDepth = 959.066905; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 959.066905 # Seafloor depth: -1009.066905 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.146913 meters # Minimum depth: 1010.785109 meters looking forward 100.000000 meters along route # Maximum depth: 1010.808829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.785109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912534; longitude = -117.781396; captureRadius = 10; duration = 202; initialDepth = 961.492237; finalDepth = 960.785109; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 960.785109 # Seafloor depth: -1010.785109 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.146919 meters # Minimum depth: 1011.492237 meters looking forward 100.000000 meters along route # Maximum depth: 1011.492237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.492237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911632; longitude = -117.781232; captureRadius = 10; duration = 202; initialDepth = 962.262854; finalDepth = 961.492237; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 961.492237 # Seafloor depth: -1011.492237 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.146927 meters # Minimum depth: 1012.262854 meters looking forward 100.000000 meters along route # Maximum depth: 1012.262854 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.262854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910730; longitude = -117.781067; captureRadius = 10; duration = 202; initialDepth = 964.745324; finalDepth = 962.262854; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 962.262854 # Seafloor depth: -1012.262854 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.146933 meters # Minimum depth: 1014.745324 meters looking forward 100.000000 meters along route # Maximum depth: 1014.745324 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.745324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909829; longitude = -117.780903; captureRadius = 10; duration = 202; initialDepth = 967.028060; finalDepth = 964.745324; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 964.745324 # Seafloor depth: -1014.745324 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.146940 meters # Minimum depth: 1017.028060 meters looking forward 100.000000 meters along route # Maximum depth: 1017.028060 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.028060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908927; longitude = -117.780738; captureRadius = 10; duration = 202; initialDepth = 969.716929; finalDepth = 967.028060; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 967.02806 # Seafloor depth: -1017.028060 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.146946 meters # Minimum depth: 1019.716929 meters looking forward 100.000000 meters along route # Maximum depth: 1019.716929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.716929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908025; longitude = -117.780574; captureRadius = 10; duration = 202; initialDepth = 973.191564; finalDepth = 969.716929; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 969.716929 # Seafloor depth: -1019.716929 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.146954 meters # Minimum depth: 1023.191564 meters looking forward 100.000000 meters along route # Maximum depth: 1024.844810 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.191564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907124; longitude = -117.780409; captureRadius = 10; duration = 202; initialDepth = 976.116725; finalDepth = 973.191564; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 973.191564 # Seafloor depth: -1023.191564 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.146960 meters # Minimum depth: 1026.116725 meters looking forward 100.000000 meters along route # Maximum depth: 1026.116725 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.116725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906222; longitude = -117.780244; captureRadius = 10; duration = 202; initialDepth = 978.324202; finalDepth = 976.116725; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 976.116725 # Seafloor depth: -1026.116725 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.146967 meters # Minimum depth: 1028.324202 meters looking forward 100.000000 meters along route # Maximum depth: 1028.324202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.324202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905320; longitude = -117.780080; captureRadius = 10; duration = 202; initialDepth = 977.905655; finalDepth = 978.324202; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 978.324202 # Seafloor depth: -1028.324202 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.146974 meters # Minimum depth: 1027.905655 meters looking forward 100.000000 meters along route # Maximum depth: 1027.905655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.905655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904418; longitude = -117.779915; captureRadius = 10; duration = 202; initialDepth = 979.527123; finalDepth = 977.905655; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 977.905655 # Seafloor depth: -1027.905655 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.146981 meters # Minimum depth: 1029.527123 meters looking forward 100.000000 meters along route # Maximum depth: 1029.527123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.527123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903517; longitude = -117.779751; captureRadius = 10; duration = 202; initialDepth = 982.695337; finalDepth = 979.527123; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 979.527123 # Seafloor depth: -1029.527123 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.146987 meters # Minimum depth: 1032.695337 meters looking forward 100.000000 meters along route # Maximum depth: 1032.695337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.695337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902615; longitude = -117.779586; captureRadius = 10; duration = 202; initialDepth = 988.397452; finalDepth = 982.695337; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 982.695337 # Seafloor depth: -1032.695337 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.146994 meters # Minimum depth: 1038.397452 meters looking forward 100.000000 meters along route # Maximum depth: 1038.397452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.397452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901713; longitude = -117.779421; captureRadius = 10; duration = 202; initialDepth = 994.382465; finalDepth = 988.397452; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 988.397452 # Seafloor depth: -1038.397452 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.147001 meters # Minimum depth: 1044.382465 meters looking forward 100.000000 meters along route # Maximum depth: 1044.866765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.382465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900812; longitude = -117.779257; captureRadius = 10; duration = 202; initialDepth = 998.945730; finalDepth = 994.382465; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 994.382465 # Seafloor depth: -1044.382465 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.147008 meters # Minimum depth: 1048.945730 meters looking forward 100.000000 meters along route # Maximum depth: 1048.945730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.945730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899910; longitude = -117.779092; captureRadius = 10; duration = 202; initialDepth = 1002.820835; finalDepth = 998.945730; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 998.94573 # Seafloor depth: -1048.945730 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.147015 meters # Minimum depth: 1052.820835 meters looking forward 100.000000 meters along route # Maximum depth: 1052.820835 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.820835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899008; longitude = -117.778928; captureRadius = 10; duration = 202; initialDepth = 1006.428960; finalDepth = 1002.820835; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1002.820835 # Seafloor depth: -1052.820835 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.147021 meters # Minimum depth: 1056.428960 meters looking forward 100.000000 meters along route # Maximum depth: 1056.428960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.428960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898106; longitude = -117.778763; captureRadius = 10; duration = 202; initialDepth = 1007.259251; finalDepth = 1006.428960; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1006.42896 # Seafloor depth: -1056.428960 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 192.432092 meters # Minimum depth: 1057.259251 meters looking forward 100.000000 meters along route # Maximum depth: 1057.956434 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1041.323465 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.259251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897205; longitude = -117.778599; captureRadius = 10; duration = 384; initialDepth = 1007.956434; finalDepth = 1007.259251; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1007.259251 # Seafloor depth: -1057.259251 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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 # Waypoint type: 3 # Commanded altitude: 51.2043630000001 # Sonar parameter altitude: 51.2043630000001 # Commanded vehicle depth: 1007.956434 # Seafloor depth: -1059.160797 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 400.000; MB_Power = 220; MB_Range = 204.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 192.432092 meters # Minimum depth: 1057.956434 meters looking forward 100.000000 meters along route # Maximum depth: 1059.160797 meters looking forward 100.000000 meters along route # Vehicle depth: 1007.956434 meters behavior waypoint { latitude = 32.895489; longitude = -117.778285; captureRadius = 10; duration = 503; depth = 1007.956434; speed = MISSION_SPEED; } # # Zero speed hang to allow final nav updates over acoustic modem # - must get start survey command over acoustic modem or mission aborts behavior StartSurvey { duration = 300; } # # Acoustic update - sent status ping at beginning of StartSurvey behavior # behavior acousticUpdate { duration = 2; dummy = 1; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 1007.956434 meters set by local depth and desired altitude behavior descend { duration = 3044; horizontalMode = rudder; horizontal = DESCENDRUDDER; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = SPIRAL_DESCENT_DEPTH; minAltitude = SPIRAL_DESCENT_ALTITUDE; } # # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 192.432092 meters # Minimum depth: 1057.956434 meters looking forward 100.000000 meters along route # Maximum depth: 1059.160797 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 32.895489; longitude = -117.778285; captureRadius = 10; duration = 1000; depth = 50.000000; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 351.671314; 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 = 351.671314; 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 = 400.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### ####################################################### ####################################################### #######################################################