# 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_SantaMonicaSBPTest_1v6.rte # Mission File: 2010_SantaMonicaSBPTest_1v6.cfg # Distance: 29463.731842 (m) # Estimated Time: 21368 (s) 5.936 (hr) # Abort Time: 27778 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1010 (s) # Way Points: 32 # Route Points: 278 # 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 enabled # 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: 838.652971 (m) # Abort Vehicle Depth: 863.652971 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 804.194122 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 -118.634939 33.794076 -864.194122 0.000000 3 # 1 -118.639206 33.808550 -829.206116 1653.153155 3 # 2 -118.651466 33.793482 -854.611694 3673.360096 4 # 3 -118.651394 33.792366 -858.606979 3797.310898 1 # 4 -118.653140 33.792078 -859.278885 3962.113304 1 # 5 -118.651466 33.793482 -854.611694 4181.827335 3 # 6 -118.643022 33.803870 -836.369156 5574.163262 4 # 7 -118.644229 33.806606 -835.617035 5897.525778 1 # 8 -118.641258 33.805904 -834.626526 6183.397094 1 # 9 -118.643022 33.803870 -836.369156 6461.894813 3 # 10 -118.651466 33.793482 -854.611694 7854.230740 4 # 11 -118.651394 33.792366 -858.606979 7978.181542 1 # 12 -118.653140 33.792078 -859.278885 8142.983947 1 # 13 -118.651466 33.793482 -854.611694 8362.697978 3 # 14 -118.643022 33.803870 -836.369156 9755.033905 4 # 15 -118.644229 33.806606 -835.617035 10078.396422 1 # 16 -118.641258 33.805904 -834.626526 10364.267738 1 # 17 -118.643022 33.803870 -836.369156 10642.765457 3 # 18 -118.651466 33.793482 -854.611694 12035.101384 4 # 19 -118.651394 33.792366 -858.606979 12159.052186 1 # 20 -118.653068 33.792096 -859.279755 12316.928374 1 # 21 -118.651448 33.793500 -854.611694 12533.143684 3 # 22 -118.643022 33.803870 -836.369156 13922.891851 3 # 23 -118.630025 33.796182 -859.722763 15397.730842 4 # 24 -118.629142 33.797389 -857.476822 15554.587248 3 # 25 -118.659117 33.814725 -852.814011 18930.732905 4 # 26 -118.658163 33.815895 -845.780838 19087.696602 3 # 27 -118.628350 33.798505 -853.778152 22454.920057 4 # 28 -118.627540 33.799639 -846.619675 22601.351075 3 # 29 -118.657245 33.816976 -839.490479 25956.981773 4 # 30 -118.656308 33.818182 -835.737198 26116.398860 3 # 31 -118.626712 33.800845 -842.865097 29463.731842 4 # # A total of 278 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 27778; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 838.652971; abortDepth = 863.652971; minAltitude = 50.000000; abortAltitude = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1010; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # 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 = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 144.578326 meters # Minimum depth: 842.339596 meters looking forward 100.000000 meters along route # Maximum depth: 848.244038 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 792.339596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800845; longitude = -118.626712; captureRadius = 10; duration = 289; # abortOnTimeout = True; initialDepth = 790.088375; finalDepth = 792.339596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.525501 # Actual altitude: 50.525501 # Commanded vehicle depth: 792.339596 # Seafloor depth: -842.865097 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 202.10; 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 = 202.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 103.847724 meters # Minimum depth: 840.088375 meters looking forward 100.000000 meters along route # Maximum depth: 847.667164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 790.088375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801594; longitude = -118.627990; captureRadius = 10; duration = 207; initialDepth = 789.005947; finalDepth = 790.088375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6033199999999 # Actual altitude: 54.6033199999999 # Commanded vehicle depth: 790.088375 # Seafloor depth: -844.691695 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 218.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.84; MB_Bottom_Detect_Filter_Max_Range = 218.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.847325 meters # Minimum depth: 839.005947 meters looking forward 100.000000 meters along route # Maximum depth: 840.097513 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 789.005947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802132; longitude = -118.628908; captureRadius = 10; duration = 207; initialDepth = 788.783612; finalDepth = 789.005947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6033199999999 # Actual altitude: 54.6033199999999 # Commanded vehicle depth: 789.005947 # Seafloor depth: -840.097513 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 218.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.84; MB_Bottom_Detect_Filter_Max_Range = 218.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.846924 meters # Minimum depth: 838.783612 meters looking forward 100.000000 meters along route # Maximum depth: 845.066216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 788.783612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802669; longitude = -118.629827; captureRadius = 10; duration = 207; initialDepth = 788.043133; finalDepth = 788.783612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0915660000001 # Actual altitude: 51.0915660000001 # Commanded vehicle depth: 788.783612 # Seafloor depth: -838.981959 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 204.37; 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 = 204.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.846525 meters # Minimum depth: 838.043133 meters looking forward 100.000000 meters along route # Maximum depth: 844.106093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 788.043133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803207; longitude = -118.630745; captureRadius = 10; duration = 207; initialDepth = 789.870018; finalDepth = 788.043133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.500209 # Actual altitude: 53.500209 # Commanded vehicle depth: 788.043133 # Seafloor depth: -841.543342 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 214.00; 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 = 214.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.846124 meters # Minimum depth: 839.870018 meters looking forward 100.000000 meters along route # Maximum depth: 847.002605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 789.870018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803745; longitude = -118.631663; captureRadius = 10; duration = 207; initialDepth = 788.382144; finalDepth = 789.870018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.500209 # Actual altitude: 53.500209 # Commanded vehicle depth: 789.870018 # Seafloor depth: -842.533534 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 214.00; 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 = 214.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.845726 meters # Minimum depth: 838.382144 meters looking forward 100.000000 meters along route # Maximum depth: 842.679639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 788.382144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804283; longitude = -118.632581; captureRadius = 10; duration = 207; initialDepth = 788.372420; finalDepth = 788.382144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6635160000001 # Actual altitude: 52.6635160000001 # Commanded vehicle depth: 788.382144 # Seafloor depth: -840.507585 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 210.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.07; MB_Bottom_Detect_Filter_Max_Range = 210.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 101.372784 meters # Minimum depth: 838.372420 meters looking forward 100.000000 meters along route # Maximum depth: 842.092333 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 788.372420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804821; longitude = -118.633499; captureRadius = 10; duration = 202; initialDepth = 788.167786; finalDepth = 788.372420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1254409999999 # Actual altitude: 52.1254409999999 # Commanded vehicle depth: 788.37242 # Seafloor depth: -840.013399 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 208.50; 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 = 208.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.208952 meters # Minimum depth: 838.167786 meters looking forward 100.000000 meters along route # Maximum depth: 842.049777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 788.167786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805346; longitude = -118.634395; captureRadius = 10; duration = 200; initialDepth = 783.481813; finalDepth = 788.167786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.640979 # Actual altitude: 51.640979 # Commanded vehicle depth: 788.167786 # Seafloor depth: -838.167786 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 206.56; 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 = 206.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.844549 meters # Minimum depth: 833.481813 meters looking forward 100.000000 meters along route # Maximum depth: 840.873279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 783.481813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805865; longitude = -118.635281; captureRadius = 10; duration = 207; initialDepth = 786.697276; finalDepth = 783.481813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7760930000001 # Actual altitude: 55.7760930000001 # Commanded vehicle depth: 783.481813 # Seafloor depth: -839.257906 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 223.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.31; MB_Bottom_Detect_Filter_Max_Range = 223.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.844150 meters # Minimum depth: 836.697276 meters looking forward 100.000000 meters along route # Maximum depth: 839.800448 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.697276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806403; longitude = -118.636199; captureRadius = 10; duration = 207; initialDepth = 784.620421; finalDepth = 786.697276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7760930000001 # Actual altitude: 55.7760930000001 # Commanded vehicle depth: 786.697276 # Seafloor depth: -837.114201 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 223.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.31; MB_Bottom_Detect_Filter_Max_Range = 223.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.843750 meters # Minimum depth: 834.620421 meters looking forward 100.000000 meters along route # Maximum depth: 838.642387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 784.620421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806940; longitude = -118.637118; captureRadius = 10; duration = 207; initialDepth = 780.346228; finalDepth = 784.620421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.067537 # Actual altitude: 52.067537 # Commanded vehicle depth: 784.620421 # Seafloor depth: -836.687958 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 208.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.843350 meters # Minimum depth: 830.346228 meters looking forward 100.000000 meters along route # Maximum depth: 844.194659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 780.346228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807478; longitude = -118.638036; captureRadius = 10; duration = 207; initialDepth = 779.508216; finalDepth = 780.346228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.812459 # Actual altitude: 55.812459 # Commanded vehicle depth: 780.346228 # Seafloor depth: -836.158687 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 223.25; 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 = 223.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.842950 meters # Minimum depth: 829.508216 meters looking forward 100.000000 meters along route # Maximum depth: 830.298106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 779.508216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808016; longitude = -118.638954; captureRadius = 10; duration = 207; initialDepth = 779.513328; finalDepth = 779.508216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.812459 # Actual altitude: 55.812459 # Commanded vehicle depth: 779.508216 # Seafloor depth: -830.298106 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 223.25; 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 = 223.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.842551 meters # Minimum depth: 829.513328 meters looking forward 100.000000 meters along route # Maximum depth: 835.750208 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 779.513328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808554; longitude = -118.639872; captureRadius = 10; duration = 207; initialDepth = 779.527890; finalDepth = 779.513328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.78989 # Actual altitude: 50.78989 # Commanded vehicle depth: 779.513328 # Seafloor depth: -829.520521 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 203.16; 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 = 203.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.842151 meters # Minimum depth: 829.527890 meters looking forward 100.000000 meters along route # Maximum depth: 838.437649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 779.527890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809092; longitude = -118.640790; captureRadius = 10; duration = 207; initialDepth = 779.545226; finalDepth = 779.527890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.083479 # Actual altitude: 54.083479 # Commanded vehicle depth: 779.52789 # Seafloor depth: -833.611369 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 216.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.63; MB_Bottom_Detect_Filter_Max_Range = 216.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.841751 meters # Minimum depth: 829.545226 meters looking forward 100.000000 meters along route # Maximum depth: 829.754540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 779.545226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809630; longitude = -118.641708; captureRadius = 10; duration = 207; initialDepth = 778.785338; finalDepth = 779.545226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.083479 # Actual altitude: 54.083479 # Commanded vehicle depth: 779.545226 # Seafloor depth: -829.625651 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 216.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.63; MB_Bottom_Detect_Filter_Max_Range = 216.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 101.386874 meters # Minimum depth: 828.785338 meters looking forward 100.000000 meters along route # Maximum depth: 833.542237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 778.785338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810167; longitude = -118.642626; captureRadius = 10; duration = 202; initialDepth = 780.940471; finalDepth = 778.785338; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.962847 # Actual altitude: 50.962847 # Commanded vehicle depth: 778.785338 # Seafloor depth: -829.748185 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 203.85; 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 = 203.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.187149 meters # Minimum depth: 830.940471 meters looking forward 100.000000 meters along route # Maximum depth: 835.141589 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 780.940471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810693; longitude = -118.643523; captureRadius = 10; duration = 200; initialDepth = 779.226557; finalDepth = 780.940471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.087247 # Actual altitude: 53.087247 # Commanded vehicle depth: 780.940471 # Seafloor depth: -834.027718 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 212.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.23; MB_Bottom_Detect_Filter_Max_Range = 212.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.840576 meters # Minimum depth: 829.226557 meters looking forward 100.000000 meters along route # Maximum depth: 836.398931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 779.226557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811212; longitude = -118.644409; captureRadius = 10; duration = 207; initialDepth = 778.205397; finalDepth = 779.226557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.087247 # Actual altitude: 53.087247 # Commanded vehicle depth: 779.226557 # Seafloor depth: -832.125467 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 212.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.23; MB_Bottom_Detect_Filter_Max_Range = 212.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.840176 meters # Minimum depth: 828.205397 meters looking forward 100.000000 meters along route # Maximum depth: 833.928809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 778.205397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811749; longitude = -118.645327; captureRadius = 10; duration = 207; initialDepth = 778.395561; finalDepth = 778.205397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.89891 # Actual altitude: 52.89891 # Commanded vehicle depth: 778.205397 # Seafloor depth: -831.031090 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 211.60; 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 = 211.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.839777 meters # Minimum depth: 828.395561 meters looking forward 100.000000 meters along route # Maximum depth: 829.446197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 778.395561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.812287; longitude = -118.646245; captureRadius = 10; duration = 207; initialDepth = 779.546710; finalDepth = 778.395561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.825693 # Actual altitude: 52.825693 # Commanded vehicle depth: 778.395561 # Seafloor depth: -828.395561 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 211.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 211.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.839377 meters # Minimum depth: 829.546710 meters looking forward 100.000000 meters along route # Maximum depth: 837.810323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 779.546710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.812825; longitude = -118.647163; captureRadius = 10; duration = 207; initialDepth = 785.530734; finalDepth = 779.546710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 779.54671 # Seafloor depth: -829.546710 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.838977 meters # Minimum depth: 835.530734 meters looking forward 100.000000 meters along route # Maximum depth: 840.172427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.530734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.813363; longitude = -118.648081; captureRadius = 10; duration = 207; initialDepth = 782.378258; finalDepth = 785.530734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8394929999999 # Actual altitude: 50.8394929999999 # Commanded vehicle depth: 785.530734 # Seafloor depth: -836.370227 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 203.36; 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 = 203.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.838578 meters # Minimum depth: 832.378258 meters looking forward 100.000000 meters along route # Maximum depth: 840.521770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 782.378258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.813901; longitude = -118.648999; captureRadius = 10; duration = 207; initialDepth = 784.555950; finalDepth = 782.378258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.920561 # Actual altitude: 53.920561 # Commanded vehicle depth: 782.378258 # Seafloor depth: -836.298819 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 215.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.57; MB_Bottom_Detect_Filter_Max_Range = 215.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.838178 meters # Minimum depth: 834.555950 meters looking forward 100.000000 meters along route # Maximum depth: 838.368808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 784.555950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.814439; longitude = -118.649917; captureRadius = 10; duration = 207; initialDepth = 784.964432; finalDepth = 784.555950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.920561 # Actual altitude: 53.920561 # Commanded vehicle depth: 784.55595 # Seafloor depth: -837.699866 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 215.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.57; MB_Bottom_Detect_Filter_Max_Range = 215.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.837779 meters # Minimum depth: 834.964432 meters looking forward 100.000000 meters along route # Maximum depth: 838.976468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 784.964432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.814976; longitude = -118.650836; captureRadius = 10; duration = 207; initialDepth = 783.318066; finalDepth = 784.964432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.143916 # Actual altitude: 53.143916 # Commanded vehicle depth: 784.964432 # Seafloor depth: -836.676908 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 212.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.26; MB_Bottom_Detect_Filter_Max_Range = 212.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.837379 meters # Minimum depth: 833.318066 meters looking forward 100.000000 meters along route # Maximum depth: 837.876482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 783.318066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.815514; longitude = -118.651754; captureRadius = 10; duration = 207; initialDepth = 783.420350; finalDepth = 783.318066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.820485 # Actual altitude: 52.820485 # Commanded vehicle depth: 783.318066 # Seafloor depth: -836.138551 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 211.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 211.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.836979 meters # Minimum depth: 833.420350 meters looking forward 100.000000 meters along route # Maximum depth: 837.287492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 783.420350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.816052; longitude = -118.652672; captureRadius = 10; duration = 207; initialDepth = 782.423596; finalDepth = 783.420350; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.820485 # Actual altitude: 52.820485 # Commanded vehicle depth: 783.42035 # Seafloor depth: -835.912581 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 211.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 211.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.836580 meters # Minimum depth: 832.423596 meters looking forward 100.000000 meters along route # Maximum depth: 835.808552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 782.423596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.816590; longitude = -118.653590; captureRadius = 10; duration = 207; initialDepth = 783.144137; finalDepth = 782.423596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4922310000001 # Actual altitude: 52.4922310000001 # Commanded vehicle depth: 782.423596 # Seafloor depth: -834.154906 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 209.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.00; MB_Bottom_Detect_Filter_Max_Range = 209.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 102.700875 meters # Minimum depth: 833.144137 meters looking forward 100.000000 meters along route # Maximum depth: 837.387879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 783.144137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.817128; longitude = -118.654508; captureRadius = 10; duration = 205; initialDepth = 781.410908; finalDepth = 783.144137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.73131 # Actual altitude: 51.73131 # Commanded vehicle depth: 783.144137 # Seafloor depth: -834.010392 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 206.93; 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 = 206.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.848116 meters # Minimum depth: 831.410908 meters looking forward 100.000000 meters along route # Maximum depth: 835.881400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 781.410908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.817660; longitude = -118.655416; captureRadius = 10; duration = 201; initialDepth = 784.935924; finalDepth = 781.410908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.7380010000001 # Actual altitude: 52.7380010000001 # Commanded vehicle depth: 781.410908 # Seafloor depth: -834.148909 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 210.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.10; MB_Bottom_Detect_Filter_Max_Range = 210.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.95; 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 30 # Segment length 159.417087 meters # Minimum depth: 834.935924 meters looking forward 100.000000 meters along route # Maximum depth: 846.964117 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 784.935924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.818182; longitude = -118.656308; captureRadius = 10; duration = 318; # abortOnTimeout = True; initialDepth = 789.353614; finalDepth = 784.935924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 52.7380010000001 # Actual altitude: 52.7380010000001 # Commanded vehicle depth: 784.935924 # Seafloor depth: -835.737198 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 210.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.10; MB_Bottom_Detect_Filter_Max_Range = 210.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 174.932115 meters # Minimum depth: 839.353614 meters looking forward 100.000000 meters along route # Maximum depth: 843.233263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 789.353614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.816976; longitude = -118.657245; captureRadius = 10; duration = 349; # abortOnTimeout = True; initialDepth = 785.477080; finalDepth = 789.353614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.801274 # Actual altitude: 50.801274 # Commanded vehicle depth: 789.353614 # Seafloor depth: -839.490479 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 203.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 103.711892 meters # Minimum depth: 835.477080 meters looking forward 100.000000 meters along route # Maximum depth: 844.745259 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.477080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.816072; longitude = -118.655696; captureRadius = 10; duration = 207; initialDepth = 789.439802; finalDepth = 785.477080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.62935 # Actual altitude: 54.62935 # Commanded vehicle depth: 785.47708 # Seafloor depth: -840.106430 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 218.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.85; MB_Bottom_Detect_Filter_Max_Range = 218.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 101.231967 meters # Minimum depth: 839.439802 meters looking forward 100.000000 meters along route # Maximum depth: 844.004474 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 789.439802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.815536; longitude = -118.654778; captureRadius = 10; duration = 202; initialDepth = 789.892610; finalDepth = 789.439802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.62935 # Actual altitude: 54.62935 # Commanded vehicle depth: 789.439802 # Seafloor depth: -841.747055 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 218.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.85; MB_Bottom_Detect_Filter_Max_Range = 218.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.092255 meters # Minimum depth: 839.892610 meters looking forward 100.000000 meters along route # Maximum depth: 843.934909 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 789.892610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.815013; longitude = -118.653882; captureRadius = 10; duration = 200; initialDepth = 789.053067; finalDepth = 789.892610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3072530000001 # Actual altitude: 52.3072530000001 # Commanded vehicle depth: 789.89261 # Seafloor depth: -840.096873 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 209.23; 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 = 209.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 103.713064 meters # Minimum depth: 839.053067 meters looking forward 100.000000 meters along route # Maximum depth: 846.091285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 789.053067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.814496; longitude = -118.652996; captureRadius = 10; duration = 207; initialDepth = 790.269441; finalDepth = 789.053067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.36726 # Actual altitude: 55.36726 # Commanded vehicle depth: 789.053067 # Seafloor depth: -844.420327 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 221.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.15; MB_Bottom_Detect_Filter_Max_Range = 221.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 103.713462 meters # Minimum depth: 840.269441 meters looking forward 100.000000 meters along route # Maximum depth: 844.800037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 790.269441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.813960; longitude = -118.652078; captureRadius = 10; duration = 207; initialDepth = 787.235242; finalDepth = 790.269441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.36726 # Actual altitude: 55.36726 # Commanded vehicle depth: 790.269441 # Seafloor depth: -840.714665 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 221.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.15; MB_Bottom_Detect_Filter_Max_Range = 221.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 103.713861 meters # Minimum depth: 837.235242 meters looking forward 100.000000 meters along route # Maximum depth: 844.672198 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 787.235242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.813424; longitude = -118.651160; captureRadius = 10; duration = 207; initialDepth = 788.611962; finalDepth = 787.235242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.398223 # Actual altitude: 54.398223 # Commanded vehicle depth: 787.235242 # Seafloor depth: -841.633465 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 217.59; 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 = 217.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.965391 meters # Minimum depth: 838.611962 meters looking forward 100.000000 meters along route # Maximum depth: 842.888856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 788.611962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.812889; longitude = -118.650242; captureRadius = 10; duration = 201; initialDepth = 788.548016; finalDepth = 788.611962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.398223 # Actual altitude: 54.398223 # Commanded vehicle depth: 788.611962 # Seafloor depth: -840.922349 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 217.59; 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 = 217.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.362653 meters # Minimum depth: 838.548016 meters looking forward 100.000000 meters along route # Maximum depth: 843.838150 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 788.548016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.812367; longitude = -118.649348; captureRadius = 10; duration = 200; initialDepth = 788.744073; finalDepth = 788.548016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.646959 # Actual altitude: 53.646959 # Commanded vehicle depth: 788.548016 # Seafloor depth: -842.194975 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 214.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 214.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 103.715033 meters # Minimum depth: 838.744073 meters looking forward 100.000000 meters along route # Maximum depth: 842.546754 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 788.744073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811848; longitude = -118.648459; captureRadius = 10; duration = 207; initialDepth = 787.289992; finalDepth = 788.744073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.646959 # Actual altitude: 53.646959 # Commanded vehicle depth: 788.744073 # Seafloor depth: -839.977450 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 214.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 214.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 103.715431 meters # Minimum depth: 837.289992 meters looking forward 100.000000 meters along route # Maximum depth: 841.524510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 787.289992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811312; longitude = -118.647541; captureRadius = 10; duration = 207; initialDepth = 786.256542; finalDepth = 787.289992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.207665 # Actual altitude: 54.207665 # Commanded vehicle depth: 787.289992 # Seafloor depth: -841.497657 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 216.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.68; MB_Bottom_Detect_Filter_Max_Range = 216.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 103.715831 meters # Minimum depth: 836.256542 meters looking forward 100.000000 meters along route # Maximum depth: 840.586236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.256542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810777; longitude = -118.646623; captureRadius = 10; duration = 207; initialDepth = 786.209392; finalDepth = 786.256542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.207665 # Actual altitude: 54.207665 # Commanded vehicle depth: 786.256542 # Seafloor depth: -838.933008 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 216.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.68; MB_Bottom_Detect_Filter_Max_Range = 216.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.698805 meters # Minimum depth: 836.209392 meters looking forward 100.000000 meters along route # Maximum depth: 840.882005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.209392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810241; longitude = -118.645705; captureRadius = 10; duration = 201; initialDepth = 785.855395; finalDepth = 786.209392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.676466 # Actual altitude: 52.676466 # Commanded vehicle depth: 786.209392 # Seafloor depth: -837.758577 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 210.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.07; MB_Bottom_Detect_Filter_Max_Range = 210.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.633062 meters # Minimum depth: 835.855395 meters looking forward 100.000000 meters along route # Maximum depth: 839.241023 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.855395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809720; longitude = -118.644813; captureRadius = 10; duration = 201; initialDepth = 782.195304; finalDepth = 785.855395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.676244 # Actual altitude: 51.676244 # Commanded vehicle depth: 785.855395 # Seafloor depth: -837.531639 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 206.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.67; MB_Bottom_Detect_Filter_Max_Range = 206.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 103.717002 meters # Minimum depth: 832.195304 meters looking forward 100.000000 meters along route # Maximum depth: 837.545823 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 782.195304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809201; longitude = -118.643923; captureRadius = 10; duration = 207; initialDepth = 782.127213; finalDepth = 782.195304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3505190000001 # Actual altitude: 55.3505190000001 # Commanded vehicle depth: 782.195304 # Seafloor depth: -837.545823 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 221.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.14; MB_Bottom_Detect_Filter_Max_Range = 221.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 103.717402 meters # Minimum depth: 832.127213 meters looking forward 100.000000 meters along route # Maximum depth: 832.430262 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 782.127213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808665; longitude = -118.643004; captureRadius = 10; duration = 207; initialDepth = 782.542773; finalDepth = 782.127213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3505190000001 # Actual altitude: 55.3505190000001 # Commanded vehicle depth: 782.127213 # Seafloor depth: -832.127213 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 221.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.14; MB_Bottom_Detect_Filter_Max_Range = 221.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 103.717799 meters # Minimum depth: 832.542773 meters looking forward 100.000000 meters along route # Maximum depth: 839.151949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 782.542773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808129; longitude = -118.642086; captureRadius = 10; duration = 207; initialDepth = 782.421763; finalDepth = 782.542773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 782.542773 # Seafloor depth: -832.542773 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 103.718199 meters # Minimum depth: 832.421763 meters looking forward 100.000000 meters along route # Maximum depth: 839.501170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 782.421763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807593; longitude = -118.641168; captureRadius = 10; duration = 207; initialDepth = 782.783723; finalDepth = 782.421763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.969657 # Actual altitude: 53.969657 # Commanded vehicle depth: 782.421763 # Seafloor depth: -836.391420 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 215.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.59; MB_Bottom_Detect_Filter_Max_Range = 215.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 101.249384 meters # Minimum depth: 832.783723 meters looking forward 100.000000 meters along route # Maximum depth: 838.612644 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 782.783723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807057; longitude = -118.640250; captureRadius = 10; duration = 202; initialDepth = 787.330431; finalDepth = 782.783723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.969657 # Actual altitude: 53.969657 # Commanded vehicle depth: 782.783723 # Seafloor depth: -832.783723 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 215.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.59; MB_Bottom_Detect_Filter_Max_Range = 215.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.087081 meters # Minimum depth: 837.330431 meters looking forward 100.000000 meters along route # Maximum depth: 842.177591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 787.330431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806534; longitude = -118.639354; captureRadius = 10; duration = 200; initialDepth = 787.787920; finalDepth = 787.330431; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7732070000001 # Actual altitude: 51.7732070000001 # Commanded vehicle depth: 787.330431 # Seafloor depth: -839.103638 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 207.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 207.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 103.719371 meters # Minimum depth: 837.787920 meters looking forward 100.000000 meters along route # Maximum depth: 841.219778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 787.787920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806017; longitude = -118.638468; captureRadius = 10; duration = 207; initialDepth = 787.153835; finalDepth = 787.787920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7732070000001 # Actual altitude: 51.7732070000001 # Commanded vehicle depth: 787.78792 # Seafloor depth: -838.931146 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 207.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 207.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 103.719770 meters # Minimum depth: 837.153835 meters looking forward 100.000000 meters along route # Maximum depth: 841.949207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 787.153835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805481; longitude = -118.637550; captureRadius = 10; duration = 207; initialDepth = 789.389366; finalDepth = 787.153835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.11645 # Actual altitude: 53.11645 # Commanded vehicle depth: 787.153835 # Seafloor depth: -840.270285 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 212.47; 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 = 212.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 103.720168 meters # Minimum depth: 839.389366 meters looking forward 100.000000 meters along route # Maximum depth: 843.693935 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 789.389366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804945; longitude = -118.636632; captureRadius = 10; duration = 207; initialDepth = 789.936285; finalDepth = 789.389366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.11645 # Actual altitude: 53.11645 # Commanded vehicle depth: 789.389366 # Seafloor depth: -842.064163 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 212.47; 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 = 212.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.982793 meters # Minimum depth: 839.936285 meters looking forward 100.000000 meters along route # Maximum depth: 844.076990 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 789.936285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804409; longitude = -118.635713; captureRadius = 10; duration = 201; initialDepth = 792.106862; finalDepth = 789.936285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.140705 # Actual altitude: 54.140705 # Commanded vehicle depth: 789.936285 # Seafloor depth: -844.076990 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 216.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.66; MB_Bottom_Detect_Filter_Max_Range = 216.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.357496 meters # Minimum depth: 842.106862 meters looking forward 100.000000 meters along route # Maximum depth: 845.226973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 792.106862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803888; longitude = -118.634819; captureRadius = 10; duration = 200; initialDepth = 793.012617; finalDepth = 792.106862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.140705 # Actual altitude: 54.140705 # Commanded vehicle depth: 792.106862 # Seafloor depth: -843.358794 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 216.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.66; MB_Bottom_Detect_Filter_Max_Range = 216.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 103.721341 meters # Minimum depth: 843.012617 meters looking forward 100.000000 meters along route # Maximum depth: 846.194480 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.012617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803369; longitude = -118.633931; captureRadius = 10; duration = 207; initialDepth = 793.884741; finalDepth = 793.012617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.251932 # Actual altitude: 51.251932 # Commanded vehicle depth: 793.012617 # Seafloor depth: -843.607892 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 205.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 205.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 103.721741 meters # Minimum depth: 843.884741 meters looking forward 100.000000 meters along route # Maximum depth: 847.313628 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.884741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802833; longitude = -118.633013; captureRadius = 10; duration = 207; initialDepth = 792.266240; finalDepth = 793.884741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.595275 # Actual altitude: 50.595275 # Commanded vehicle depth: 793.884741 # Seafloor depth: -843.884741 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 202.38; 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 = 202.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 103.722138 meters # Minimum depth: 842.266240 meters looking forward 100.000000 meters along route # Maximum depth: 847.052504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 792.266240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802297; longitude = -118.632095; captureRadius = 10; duration = 207; initialDepth = 792.237919; finalDepth = 792.266240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.785884 # Actual altitude: 53.785884 # Commanded vehicle depth: 792.26624 # Seafloor depth: -846.052124 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 215.14; 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 = 215.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 103.722538 meters # Minimum depth: 842.237919 meters looking forward 100.000000 meters along route # Maximum depth: 843.461941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 792.237919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801762; longitude = -118.631177; captureRadius = 10; duration = 207; initialDepth = 792.674198; finalDepth = 792.237919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.785884 # Actual altitude: 53.785884 # Commanded vehicle depth: 792.237919 # Seafloor depth: -843.461941 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 215.14; 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 = 215.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 103.722937 meters # Minimum depth: 842.674198 meters looking forward 100.000000 meters along route # Maximum depth: 843.892891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 792.674198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801226; longitude = -118.630259; captureRadius = 10; duration = 207; initialDepth = 793.309980; finalDepth = 792.674198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.224022 # Actual altitude: 51.224022 # Commanded vehicle depth: 792.674198 # Seafloor depth: -842.674198 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 204.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 102.350618 meters # Minimum depth: 843.309980 meters looking forward 100.000000 meters along route # Maximum depth: 852.512732 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.309980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800690; longitude = -118.629340; captureRadius = 10; duration = 204; initialDepth = 796.871517; finalDepth = 793.309980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.846196 # Actual altitude: 50.846196 # Commanded vehicle depth: 793.30998 # Seafloor depth: -844.156176 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 203.38; 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 = 203.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 101.048098 meters # Minimum depth: 846.871517 meters looking forward 100.000000 meters along route # Maximum depth: 852.863705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 796.871517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800161; longitude = -118.628434; captureRadius = 10; duration = 202; initialDepth = 796.619675; finalDepth = 796.871517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.2582189999999 # Actual altitude: 53.2582189999999 # Commanded vehicle depth: 796.871517 # Seafloor depth: -850.129736 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 213.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.30; MB_Bottom_Detect_Filter_Max_Range = 213.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.03; 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 28 # Segment length 146.431018 meters # Minimum depth: 846.619675 meters looking forward 100.000000 meters along route # Maximum depth: 854.234989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 796.619675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799639; longitude = -118.627540; captureRadius = 10; duration = 292; # abortOnTimeout = True; initialDepth = 800.485047; finalDepth = 796.619675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 53.2582189999999 # Actual altitude: 53.2582189999999 # Commanded vehicle depth: 796.619675 # Seafloor depth: -846.619675 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 213.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.30; MB_Bottom_Detect_Filter_Max_Range = 213.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 90.597319 meters # Minimum depth: 850.485047 meters looking forward 100.000000 meters along route # Maximum depth: 856.114421 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.485047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798505; longitude = -118.628350; captureRadius = 10; duration = 181; # abortOnTimeout = True; initialDepth = 798.194419; finalDepth = 800.485047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.293105 # Actual altitude: 53.293105 # Commanded vehicle depth: 800.485047 # Seafloor depth: -853.778152 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 213.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.32; MB_Bottom_Detect_Filter_Max_Range = 213.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.577840 meters # Minimum depth: 848.194419 meters looking forward 100.000000 meters along route # Maximum depth: 854.089383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 798.194419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798973; longitude = -118.629152; captureRadius = 10; duration = 201; initialDepth = 796.623267; finalDepth = 798.194419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.894964 # Actual altitude: 55.894964 # Commanded vehicle depth: 798.194419 # Seafloor depth: -854.089383 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 223.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.36; MB_Bottom_Detect_Filter_Max_Range = 223.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 103.704296 meters # Minimum depth: 846.623267 meters looking forward 100.000000 meters along route # Maximum depth: 847.594285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 796.623267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799492; longitude = -118.630043; captureRadius = 10; duration = 207; initialDepth = 795.829211; finalDepth = 796.623267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.894964 # Actual altitude: 55.894964 # Commanded vehicle depth: 796.623267 # Seafloor depth: -847.594285 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 223.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.36; MB_Bottom_Detect_Filter_Max_Range = 223.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 103.703897 meters # Minimum depth: 845.829211 meters looking forward 100.000000 meters along route # Maximum depth: 848.348671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 795.829211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800028; longitude = -118.630961; captureRadius = 10; duration = 207; initialDepth = 792.941744; finalDepth = 795.829211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.971018 # Actual altitude: 50.971018 # Commanded vehicle depth: 795.829211 # Seafloor depth: -846.555824 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 203.88; 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 = 203.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 103.703499 meters # Minimum depth: 842.941744 meters looking forward 100.000000 meters along route # Maximum depth: 852.355734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 792.941744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800563; longitude = -118.631879; captureRadius = 10; duration = 207; initialDepth = 797.642187; finalDepth = 792.941744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.847038 # Actual altitude: 57.847038 # Commanded vehicle depth: 792.941744 # Seafloor depth: -850.788782 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 231.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.14; MB_Bottom_Detect_Filter_Max_Range = 231.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.756734 meters # Minimum depth: 847.642187 meters looking forward 100.000000 meters along route # Maximum depth: 853.640354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 797.642187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801099; longitude = -118.632797; captureRadius = 10; duration = 201; initialDepth = 795.984796; finalDepth = 797.642187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.847038 # Actual altitude: 57.847038 # Commanded vehicle depth: 797.642187 # Seafloor depth: -849.298655 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 231.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.14; MB_Bottom_Detect_Filter_Max_Range = 231.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.548920 meters # Minimum depth: 845.984796 meters looking forward 100.000000 meters along route # Maximum depth: 850.539758 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 795.984796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801619; longitude = -118.633689; captureRadius = 10; duration = 201; initialDepth = 793.816710; finalDepth = 795.984796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.968474 # Actual altitude: 51.968474 # Commanded vehicle depth: 795.984796 # Seafloor depth: -847.953270 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 207.87; 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 = 207.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 103.702326 meters # Minimum depth: 843.816710 meters looking forward 100.000000 meters along route # Maximum depth: 849.919355 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.816710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802139; longitude = -118.634579; captureRadius = 10; duration = 207; initialDepth = 793.130967; finalDepth = 793.816710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.968474 # Actual altitude: 51.968474 # Commanded vehicle depth: 793.81671 # Seafloor depth: -845.155339 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 207.87; 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 = 207.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 103.701928 meters # Minimum depth: 843.130967 meters looking forward 100.000000 meters along route # Maximum depth: 846.700280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.130967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802674; longitude = -118.635497; captureRadius = 10; duration = 207; initialDepth = 792.874281; finalDepth = 793.130967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4984979999999 # Actual altitude: 52.4984979999999 # Commanded vehicle depth: 793.130967 # Seafloor depth: -845.629465 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 209.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.00; MB_Bottom_Detect_Filter_Max_Range = 209.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 103.701529 meters # Minimum depth: 842.874281 meters looking forward 100.000000 meters along route # Maximum depth: 846.500081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 792.874281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803210; longitude = -118.636415; captureRadius = 10; duration = 207; initialDepth = 791.524589; finalDepth = 792.874281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4984979999999 # Actual altitude: 52.4984979999999 # Commanded vehicle depth: 792.874281 # Seafloor depth: -843.569980 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 209.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.00; MB_Bottom_Detect_Filter_Max_Range = 209.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.781830 meters # Minimum depth: 841.524589 meters looking forward 100.000000 meters along route # Maximum depth: 844.403162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 791.524589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803745; longitude = -118.637334; captureRadius = 10; duration = 201; initialDepth = 788.057351; finalDepth = 791.524589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5416760000001 # Actual altitude: 52.5416760000001 # Commanded vehicle depth: 791.524589 # Seafloor depth: -844.066265 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 210.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.02; MB_Bottom_Detect_Filter_Max_Range = 210.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.520001 meters # Minimum depth: 838.057351 meters looking forward 100.000000 meters along route # Maximum depth: 845.576862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 788.057351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804266; longitude = -118.638226; captureRadius = 10; duration = 201; initialDepth = 789.533374; finalDepth = 788.057351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5137149999999 # Actual altitude: 54.5137149999999 # Commanded vehicle depth: 788.057351 # Seafloor depth: -842.571066 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 218.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.81; MB_Bottom_Detect_Filter_Max_Range = 218.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 103.700357 meters # Minimum depth: 839.533374 meters looking forward 100.000000 meters along route # Maximum depth: 844.960986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 789.533374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804785; longitude = -118.639116; captureRadius = 10; duration = 207; initialDepth = 784.881374; finalDepth = 789.533374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5137149999999 # Actual altitude: 54.5137149999999 # Commanded vehicle depth: 789.533374 # Seafloor depth: -840.894962 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 218.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.81; MB_Bottom_Detect_Filter_Max_Range = 218.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 103.699958 meters # Minimum depth: 834.881374 meters looking forward 100.000000 meters along route # Maximum depth: 843.492680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 784.881374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805320; longitude = -118.640034; captureRadius = 10; duration = 207; initialDepth = 784.478759; finalDepth = 784.881374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1896509999999 # Actual altitude: 55.1896509999999 # Commanded vehicle depth: 784.881374 # Seafloor depth: -840.071025 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 220.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.08; MB_Bottom_Detect_Filter_Max_Range = 220.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 103.699560 meters # Minimum depth: 834.478759 meters looking forward 100.000000 meters along route # Maximum depth: 834.831867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 784.478759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805856; longitude = -118.640952; captureRadius = 10; duration = 207; initialDepth = 784.491856; finalDepth = 784.478759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1896509999999 # Actual altitude: 55.1896509999999 # Commanded vehicle depth: 784.478759 # Seafloor depth: -834.831867 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 220.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.08; MB_Bottom_Detect_Filter_Max_Range = 220.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.806927 meters # Minimum depth: 834.491856 meters looking forward 100.000000 meters along route # Maximum depth: 848.732879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 784.491856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806391; longitude = -118.641870; captureRadius = 10; duration = 201; initialDepth = 784.301275; finalDepth = 784.491856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.353108 # Actual altitude: 50.353108 # Commanded vehicle depth: 784.491856 # Seafloor depth: -834.491856 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 201.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.491082 meters # Minimum depth: 834.301275 meters looking forward 100.000000 meters along route # Maximum depth: 840.732135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 784.301275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806912; longitude = -118.642763; captureRadius = 10; duration = 200; initialDepth = 784.239643; finalDepth = 784.301275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.4308599999999 # Actual altitude: 56.4308599999999 # Commanded vehicle depth: 784.301275 # Seafloor depth: -840.732135 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 225.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.57; MB_Bottom_Detect_Filter_Max_Range = 225.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 103.698388 meters # Minimum depth: 834.239643 meters looking forward 100.000000 meters along route # Maximum depth: 834.830592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 784.239643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807431; longitude = -118.643653; captureRadius = 10; duration = 207; initialDepth = 784.874597; finalDepth = 784.239643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.4308599999999 # Actual altitude: 56.4308599999999 # Commanded vehicle depth: 784.239643 # Seafloor depth: -834.313467 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 225.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.57; MB_Bottom_Detect_Filter_Max_Range = 225.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 103.697990 meters # Minimum depth: 834.874597 meters looking forward 100.000000 meters along route # Maximum depth: 841.470155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 784.874597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807967; longitude = -118.644571; captureRadius = 10; duration = 207; initialDepth = 788.891144; finalDepth = 784.874597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0738239999999 # Actual altitude: 50.0738239999999 # Commanded vehicle depth: 784.874597 # Seafloor depth: -834.874597 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; 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 27 # Segment length 103.697591 meters # Minimum depth: 838.891144 meters looking forward 100.000000 meters along route # Maximum depth: 843.758953 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 788.891144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808502; longitude = -118.645489; captureRadius = 10; duration = 207; initialDepth = 790.290503; finalDepth = 788.891144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.879326 # Actual altitude: 50.879326 # Commanded vehicle depth: 788.891144 # Seafloor depth: -839.770470 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 203.52; 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 = 203.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.832022 meters # Minimum depth: 840.290503 meters looking forward 100.000000 meters along route # Maximum depth: 847.760561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 790.290503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809038; longitude = -118.646407; captureRadius = 10; duration = 201; initialDepth = 793.286259; finalDepth = 790.290503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.838973 # Actual altitude: 51.838973 # Commanded vehicle depth: 790.290503 # Seafloor depth: -842.129476 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 207.36; 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 = 207.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.462165 meters # Minimum depth: 843.286259 meters looking forward 100.000000 meters along route # Maximum depth: 846.738004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.286259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809558; longitude = -118.647300; captureRadius = 10; duration = 200; initialDepth = 793.109553; finalDepth = 793.286259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.838973 # Actual altitude: 51.838973 # Commanded vehicle depth: 793.286259 # Seafloor depth: -844.560519 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 207.36; 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 = 207.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 103.696420 meters # Minimum depth: 843.109553 meters looking forward 100.000000 meters along route # Maximum depth: 848.380784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.109553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810077; longitude = -118.648189; captureRadius = 10; duration = 207; initialDepth = 793.076531; finalDepth = 793.109553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.324294 # Actual altitude: 51.324294 # Commanded vehicle depth: 793.109553 # Seafloor depth: -844.433847 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 205.30; 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 = 205.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 103.696021 meters # Minimum depth: 843.076531 meters looking forward 100.000000 meters along route # Maximum depth: 847.049450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.076531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810613; longitude = -118.649107; captureRadius = 10; duration = 207; initialDepth = 793.203195; finalDepth = 793.076531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6562339999999 # Actual altitude: 53.6562339999999 # Commanded vehicle depth: 793.076531 # Seafloor depth: -846.732765 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 214.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 214.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 103.695623 meters # Minimum depth: 843.203195 meters looking forward 100.000000 meters along route # Maximum depth: 847.544427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.203195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811148; longitude = -118.650026; captureRadius = 10; duration = 207; initialDepth = 793.251950; finalDepth = 793.203195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.070127 # Actual altitude: 54.070127 # Commanded vehicle depth: 793.203195 # Seafloor depth: -847.273322 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 216.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.63; MB_Bottom_Detect_Filter_Max_Range = 216.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.857115 meters # Minimum depth: 843.251950 meters looking forward 100.000000 meters along route # Maximum depth: 849.580095 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.251950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811684; longitude = -118.650944; captureRadius = 10; duration = 201; initialDepth = 792.165630; finalDepth = 793.251950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.070127 # Actual altitude: 54.070127 # Commanded vehicle depth: 793.25195 # Seafloor depth: -844.548417 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 216.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.63; MB_Bottom_Detect_Filter_Max_Range = 216.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.433250 meters # Minimum depth: 842.165630 meters looking forward 100.000000 meters along route # Maximum depth: 847.591712 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 792.165630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.812205; longitude = -118.651837; captureRadius = 10; duration = 200; initialDepth = 792.468215; finalDepth = 792.165630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.239778 # Actual altitude: 52.239778 # Commanded vehicle depth: 792.16563 # Seafloor depth: -844.405408 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 208.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 208.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 103.694452 meters # Minimum depth: 842.468215 meters looking forward 100.000000 meters along route # Maximum depth: 847.057285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 792.468215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.812724; longitude = -118.652726; captureRadius = 10; duration = 207; initialDepth = 795.060940; finalDepth = 792.468215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.239778 # Actual altitude: 52.239778 # Commanded vehicle depth: 792.468215 # Seafloor depth: -844.032496 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 208.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 208.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 103.694052 meters # Minimum depth: 845.060940 meters looking forward 100.000000 meters along route # Maximum depth: 847.810470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 795.060940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.813259; longitude = -118.653644; captureRadius = 10; duration = 207; initialDepth = 795.295509; finalDepth = 795.060940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5642810000001 # Actual altitude: 51.5642810000001 # Commanded vehicle depth: 795.06094 # Seafloor depth: -845.553227 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 206.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 103.693655 meters # Minimum depth: 845.295509 meters looking forward 100.000000 meters along route # Maximum depth: 850.131488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 795.295509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.813795; longitude = -118.654562; captureRadius = 10; duration = 207; initialDepth = 794.434236; finalDepth = 795.295509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.286482 # Actual altitude: 51.286482 # Commanded vehicle depth: 795.295509 # Seafloor depth: -846.581991 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; 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 27 # Segment length 100.882209 meters # Minimum depth: 844.434236 meters looking forward 100.000000 meters along route # Maximum depth: 851.544209 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 794.434236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.814330; longitude = -118.655480; captureRadius = 10; duration = 201; initialDepth = 796.722528; finalDepth = 794.434236; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.286482 # Actual altitude: 51.286482 # Commanded vehicle depth: 794.434236 # Seafloor depth: -844.434236 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; 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 27 # Segment length 100.404336 meters # Minimum depth: 846.722528 meters looking forward 100.000000 meters along route # Maximum depth: 849.155367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 796.722528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.814851; longitude = -118.656374; captureRadius = 10; duration = 200; initialDepth = 794.896377; finalDepth = 796.722528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.16263 # Actual altitude: 51.16263 # Commanded vehicle depth: 796.722528 # Seafloor depth: -847.885158 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 204.65; 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 = 204.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 101.690163 meters # Minimum depth: 844.896377 meters looking forward 100.000000 meters along route # Maximum depth: 850.526249 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 794.896377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.815370; longitude = -118.657263; captureRadius = 10; duration = 203; initialDepth = 795.780838; finalDepth = 794.896377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.4459459999999 # Actual altitude: 52.4459459999999 # Commanded vehicle depth: 794.896377 # Seafloor depth: -847.342323 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 209.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.98; MB_Bottom_Detect_Filter_Max_Range = 209.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.78; 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 26 # Segment length 156.963697 meters # Minimum depth: 845.780838 meters looking forward 100.000000 meters along route # Maximum depth: 854.258496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 795.780838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.815895; longitude = -118.658163; captureRadius = 10; duration = 313; # abortOnTimeout = True; initialDepth = 801.880588; finalDepth = 795.780838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 52.4459459999999 # Actual altitude: 52.4459459999999 # Commanded vehicle depth: 795.780838 # Seafloor depth: -845.780838 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 209.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.98; MB_Bottom_Detect_Filter_Max_Range = 209.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 75.034309 meters # Minimum depth: 851.880588 meters looking forward 100.000000 meters along route # Maximum depth: 854.708007 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 801.880588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.814725; longitude = -118.659117; captureRadius = 10; duration = 150; # abortOnTimeout = True; initialDepth = 802.276449; finalDepth = 801.880588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9334230000001 # Actual altitude: 50.9334230000001 # Commanded vehicle depth: 801.880588 # Seafloor depth: -852.814011 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; 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 25 # Segment length 103.405628 meters # Minimum depth: 852.276449 meters looking forward 100.000000 meters along route # Maximum depth: 856.663128 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 802.276449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.814340; longitude = -118.658451; captureRadius = 10; duration = 206; initialDepth = 800.924018; finalDepth = 802.276449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.216766 # Actual altitude: 51.216766 # Commanded vehicle depth: 802.276449 # Seafloor depth: -853.493215 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 204.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 103.406024 meters # Minimum depth: 850.924018 meters looking forward 100.000000 meters along route # Maximum depth: 855.326059 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.924018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.813809; longitude = -118.657533; captureRadius = 10; duration = 206; initialDepth = 798.743776; finalDepth = 800.924018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5572189999999 # Actual altitude: 52.5572189999999 # Commanded vehicle depth: 800.924018 # Seafloor depth: -853.481237 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 210.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.02; MB_Bottom_Detect_Filter_Max_Range = 210.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 103.750625 meters # Minimum depth: 848.743776 meters looking forward 100.000000 meters along route # Maximum depth: 853.686866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 798.743776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.813278; longitude = -118.656614; captureRadius = 10; duration = 207; initialDepth = 799.305681; finalDepth = 798.743776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5572189999999 # Actual altitude: 52.5572189999999 # Commanded vehicle depth: 798.743776 # Seafloor depth: -851.048532 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 210.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.02; MB_Bottom_Detect_Filter_Max_Range = 210.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 105.174524 meters # Minimum depth: 849.305681 meters looking forward 100.000000 meters along route # Maximum depth: 854.133946 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 799.305681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.812745; longitude = -118.655693; captureRadius = 10; duration = 210; initialDepth = 799.071141; finalDepth = 799.305681; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.556711 # Actual altitude: 52.556711 # Commanded vehicle depth: 799.305681 # Seafloor depth: -851.862392 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 210.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.02; MB_Bottom_Detect_Filter_Max_Range = 210.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 101.295297 meters # Minimum depth: 849.071141 meters looking forward 100.000000 meters along route # Maximum depth: 851.796254 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 799.071141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.812205; longitude = -118.654759; captureRadius = 10; duration = 202; initialDepth = 798.875659; finalDepth = 799.071141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.666166 # Actual altitude: 52.666166 # Commanded vehicle depth: 799.071141 # Seafloor depth: -851.737307 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 210.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.07; MB_Bottom_Detect_Filter_Max_Range = 210.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 103.407608 meters # Minimum depth: 848.875659 meters looking forward 100.000000 meters along route # Maximum depth: 851.443309 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 798.875659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811685; longitude = -118.653860; captureRadius = 10; duration = 206; initialDepth = 796.983175; finalDepth = 798.875659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.666166 # Actual altitude: 52.666166 # Commanded vehicle depth: 798.875659 # Seafloor depth: -850.247567 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 210.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.07; MB_Bottom_Detect_Filter_Max_Range = 210.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 103.408003 meters # Minimum depth: 846.983175 meters looking forward 100.000000 meters along route # Maximum depth: 853.369536 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 796.983175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.811154; longitude = -118.652942; captureRadius = 10; duration = 206; initialDepth = 795.439846; finalDepth = 796.983175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.272022 # Actual altitude: 54.272022 # Commanded vehicle depth: 796.983175 # Seafloor depth: -851.255197 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 217.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.71; MB_Bottom_Detect_Filter_Max_Range = 217.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 103.408400 meters # Minimum depth: 845.439846 meters looking forward 100.000000 meters along route # Maximum depth: 849.784282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 795.439846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810623; longitude = -118.652024; captureRadius = 10; duration = 206; initialDepth = 793.869710; finalDepth = 795.439846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.344436 # Actual altitude: 54.344436 # Commanded vehicle depth: 795.439846 # Seafloor depth: -849.784282 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 217.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.74; MB_Bottom_Detect_Filter_Max_Range = 217.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 103.841782 meters # Minimum depth: 843.869710 meters looking forward 100.000000 meters along route # Maximum depth: 848.601672 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.869710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.810092; longitude = -118.651106; captureRadius = 10; duration = 207; initialDepth = 794.788219; finalDepth = 793.869710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.344436 # Actual altitude: 54.344436 # Commanded vehicle depth: 793.86971 # Seafloor depth: -847.791737 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 217.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.74; MB_Bottom_Detect_Filter_Max_Range = 217.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 105.176941 meters # Minimum depth: 844.788219 meters looking forward 100.000000 meters along route # Maximum depth: 847.638858 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 794.788219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809558; longitude = -118.650184; captureRadius = 10; duration = 210; initialDepth = 792.848667; finalDepth = 794.788219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.922027 # Actual altitude: 53.922027 # Commanded vehicle depth: 794.788219 # Seafloor depth: -846.852535 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 215.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.57; MB_Bottom_Detect_Filter_Max_Range = 215.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 101.208851 meters # Minimum depth: 842.848667 meters looking forward 100.000000 meters along route # Maximum depth: 847.969849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 792.848667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.809018; longitude = -118.649250; captureRadius = 10; duration = 202; initialDepth = 792.775616; finalDepth = 792.848667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.064316 # Actual altitude: 52.064316 # Commanded vehicle depth: 792.848667 # Seafloor depth: -844.620108 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 208.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 103.409983 meters # Minimum depth: 842.775616 meters looking forward 100.000000 meters along route # Maximum depth: 846.940483 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 792.775616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808499; longitude = -118.648351; captureRadius = 10; duration = 206; initialDepth = 791.332756; finalDepth = 792.775616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.409148 # Actual altitude: 52.409148 # Commanded vehicle depth: 792.775616 # Seafloor depth: -845.184764 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 209.64; 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 = 209.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 103.410380 meters # Minimum depth: 841.332756 meters looking forward 100.000000 meters along route # Maximum depth: 845.270183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 791.332756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807968; longitude = -118.647433; captureRadius = 10; duration = 206; initialDepth = 790.867750; finalDepth = 791.332756; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.409148 # Actual altitude: 52.409148 # Commanded vehicle depth: 791.332756 # Seafloor depth: -843.237058 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 209.64; 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 = 209.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 103.410776 meters # Minimum depth: 840.867750 meters looking forward 100.000000 meters along route # Maximum depth: 844.439752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 790.867750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807437; longitude = -118.646515; captureRadius = 10; duration = 206; initialDepth = 785.847536; finalDepth = 790.867750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.904302 # Actual altitude: 51.904302 # Commanded vehicle depth: 790.86775 # Seafloor depth: -842.182595 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 207.62; 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 = 207.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 103.932943 meters # Minimum depth: 835.847536 meters looking forward 100.000000 meters along route # Maximum depth: 841.068009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.847536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806906; longitude = -118.645597; captureRadius = 10; duration = 207; initialDepth = 785.851960; finalDepth = 785.847536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.220473 # Actual altitude: 55.220473 # Commanded vehicle depth: 785.847536 # Seafloor depth: -841.068009 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 220.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.09; MB_Bottom_Detect_Filter_Max_Range = 220.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 105.179358 meters # Minimum depth: 835.851960 meters looking forward 100.000000 meters along route # Maximum depth: 836.324497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.851960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806372; longitude = -118.644674; captureRadius = 10; duration = 210; initialDepth = 786.386306; finalDepth = 785.851960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.220473 # Actual altitude: 55.220473 # Commanded vehicle depth: 785.85196 # Seafloor depth: -835.851960 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 220.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.09; MB_Bottom_Detect_Filter_Max_Range = 220.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 101.122402 meters # Minimum depth: 836.386306 meters looking forward 100.000000 meters along route # Maximum depth: 843.652986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.386306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805832; longitude = -118.643740; captureRadius = 10; duration = 202; initialDepth = 786.048938; finalDepth = 786.386306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 786.386306 # Seafloor depth: -836.386306 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 103.412360 meters # Minimum depth: 836.048938 meters looking forward 100.000000 meters along route # Maximum depth: 836.415285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.048938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805313; longitude = -118.642842; captureRadius = 10; duration = 206; initialDepth = 786.472854; finalDepth = 786.048938; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.072315 # Actual altitude: 50.072315 # Commanded vehicle depth: 786.048938 # Seafloor depth: -836.121253 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; 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 25 # Segment length 103.412756 meters # Minimum depth: 836.472854 meters looking forward 100.000000 meters along route # Maximum depth: 842.337373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.472854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804782; longitude = -118.641924; captureRadius = 10; duration = 206; initialDepth = 791.279872; finalDepth = 786.472854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.072315 # Actual altitude: 50.072315 # Commanded vehicle depth: 786.472854 # Seafloor depth: -836.472854 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; 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 25 # Segment length 103.413152 meters # Minimum depth: 841.279872 meters looking forward 100.000000 meters along route # Maximum depth: 847.930755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 791.279872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804251; longitude = -118.641006; captureRadius = 10; duration = 206; initialDepth = 790.458090; finalDepth = 791.279872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6721070000001 # Actual altitude: 50.6721070000001 # Commanded vehicle depth: 791.279872 # Seafloor depth: -841.951979 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 202.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.024109 meters # Minimum depth: 840.458090 meters looking forward 100.000000 meters along route # Maximum depth: 845.878498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 790.458090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803720; longitude = -118.640088; captureRadius = 10; duration = 208; initialDepth = 792.972228; finalDepth = 790.458090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.861434 # Actual altitude: 53.861434 # Commanded vehicle depth: 790.45809 # Seafloor depth: -844.319524 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 215.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.54; MB_Bottom_Detect_Filter_Max_Range = 215.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 105.181776 meters # Minimum depth: 842.972228 meters looking forward 100.000000 meters along route # Maximum depth: 849.116110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 792.972228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803185; longitude = -118.639164; captureRadius = 10; duration = 210; initialDepth = 793.672728; finalDepth = 792.972228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.861434 # Actual altitude: 53.861434 # Commanded vehicle depth: 792.972228 # Seafloor depth: -844.975728 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 215.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.54; MB_Bottom_Detect_Filter_Max_Range = 215.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 101.035949 meters # Minimum depth: 843.672728 meters looking forward 100.000000 meters along route # Maximum depth: 848.123133 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.672728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802645; longitude = -118.638231; captureRadius = 10; duration = 202; initialDepth = 796.833257; finalDepth = 793.672728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.079371 # Actual altitude: 52.079371 # Commanded vehicle depth: 793.672728 # Seafloor depth: -845.752099 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 208.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 103.414737 meters # Minimum depth: 846.833257 meters looking forward 100.000000 meters along route # Maximum depth: 850.064635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 796.833257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802127; longitude = -118.637334; captureRadius = 10; duration = 206; initialDepth = 798.427479; finalDepth = 796.833257; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.079371 # Actual altitude: 52.079371 # Commanded vehicle depth: 796.833257 # Seafloor depth: -846.833257 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 208.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.578783 meters # Minimum depth: 848.427479 meters looking forward 100.000000 meters along route # Maximum depth: 851.016848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 798.427479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801596; longitude = -118.636415; captureRadius = 10; duration = 201; initialDepth = 799.915714; finalDepth = 798.427479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.589369 # Actual altitude: 52.589369 # Commanded vehicle depth: 798.427479 # Seafloor depth: -851.016848 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 210.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.04; MB_Bottom_Detect_Filter_Max_Range = 210.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.168602 meters # Minimum depth: 849.915714 meters looking forward 100.000000 meters along route # Maximum depth: 854.034146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 799.915714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801079; longitude = -118.635523; captureRadius = 10; duration = 200; initialDepth = 798.616275; finalDepth = 799.915714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.589369 # Actual altitude: 52.589369 # Commanded vehicle depth: 799.915714 # Seafloor depth: -851.407798 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 210.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.04; MB_Bottom_Detect_Filter_Max_Range = 210.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 103.415902 meters # Minimum depth: 848.616275 meters looking forward 100.000000 meters along route # Maximum depth: 853.779623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 798.616275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800565; longitude = -118.634633; captureRadius = 10; duration = 206; initialDepth = 800.974449; finalDepth = 798.616275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.163348 # Actual altitude: 55.163348 # Commanded vehicle depth: 798.616275 # Seafloor depth: -853.779623 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 220.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 103.416298 meters # Minimum depth: 850.974449 meters looking forward 100.000000 meters along route # Maximum depth: 856.325710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.974449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800034; longitude = -118.633715; captureRadius = 10; duration = 206; initialDepth = 800.114564; finalDepth = 800.974449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.163348 # Actual altitude: 55.163348 # Commanded vehicle depth: 800.974449 # Seafloor depth: -853.370544 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 220.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 103.416695 meters # Minimum depth: 850.114564 meters looking forward 100.000000 meters along route # Maximum depth: 855.362567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.114564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799503; longitude = -118.632797; captureRadius = 10; duration = 206; initialDepth = 800.382403; finalDepth = 800.114564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.82262 # Actual altitude: 53.82262 # Commanded vehicle depth: 800.114564 # Seafloor depth: -853.937184 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 215.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.53; MB_Bottom_Detect_Filter_Max_Range = 215.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.984954 meters # Minimum depth: 850.382403 meters looking forward 100.000000 meters along route # Maximum depth: 851.290776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.382403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798972; longitude = -118.631879; captureRadius = 10; duration = 209; initialDepth = 801.311482; finalDepth = 800.382403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.82262 # Actual altitude: 53.82262 # Commanded vehicle depth: 800.382403 # Seafloor depth: -850.382403 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 215.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.53; MB_Bottom_Detect_Filter_Max_Range = 215.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 101.849624 meters # Minimum depth: 851.311482 meters looking forward 100.000000 meters along route # Maximum depth: 859.410969 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 801.311482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798433; longitude = -118.630947; captureRadius = 10; duration = 203; initialDepth = 803.422637; finalDepth = 801.311482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.024536 # Actual altitude: 50.024536 # Commanded vehicle depth: 801.311482 # Seafloor depth: -851.336018 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 101.436126 meters # Minimum depth: 853.422637 meters looking forward 100.000000 meters along route # Maximum depth: 857.637888 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 803.422637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797910; longitude = -118.630043; captureRadius = 10; duration = 202; initialDepth = 807.476822; finalDepth = 803.422637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.811698 # Actual altitude: 53.811698 # Commanded vehicle depth: 803.422637 # Seafloor depth: -857.234335 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 215.25; 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 = 215.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.25; 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 24 # Segment length 156.856406 meters # Minimum depth: 857.476822 meters looking forward 100.000000 meters along route # Maximum depth: 861.514121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 807.476822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797389; longitude = -118.629142; captureRadius = 10; duration = 313; # abortOnTimeout = True; initialDepth = 809.233628; finalDepth = 807.476822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 53.811698 # Actual altitude: 53.811698 # Commanded vehicle depth: 807.476822 # Seafloor depth: -857.476822 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 215.25; 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 = 215.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 131.324438 meters # Minimum depth: 859.233628 meters looking forward 100.000000 meters along route # Maximum depth: 862.965298 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 809.233628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796182; longitude = -118.630025; captureRadius = 10; duration = 262; # abortOnTimeout = True; initialDepth = 805.138954; finalDepth = 809.233628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.489135 # Actual altitude: 50.489135 # Commanded vehicle depth: 809.233628 # Seafloor depth: -859.722763 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; 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 23 # Segment length 103.609253 meters # Minimum depth: 855.138954 meters looking forward 100.000000 meters along route # Maximum depth: 859.252006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 805.138954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796867; longitude = -118.631182; captureRadius = 10; duration = 207; initialDepth = 804.405377; finalDepth = 805.138954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.113052 # Actual altitude: 54.113052 # Commanded vehicle depth: 805.138954 # Seafloor depth: -859.252006 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 216.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.65; MB_Bottom_Detect_Filter_Max_Range = 216.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.136027 meters # Minimum depth: 854.405377 meters looking forward 100.000000 meters along route # Maximum depth: 855.210681 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 804.405377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797407; longitude = -118.632095; captureRadius = 10; duration = 208; initialDepth = 804.165168; finalDepth = 804.405377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.113052 # Actual altitude: 54.113052 # Commanded vehicle depth: 804.405377 # Seafloor depth: -855.210681 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 216.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.65; MB_Bottom_Detect_Filter_Max_Range = 216.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.187201 meters # Minimum depth: 854.165168 meters looking forward 100.000000 meters along route # Maximum depth: 859.805242 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 804.165168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797949; longitude = -118.633013; captureRadius = 10; duration = 208; initialDepth = 801.224253; finalDepth = 804.165168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.805304 # Actual altitude: 50.805304 # Commanded vehicle depth: 804.165168 # Seafloor depth: -854.400740 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 203.22; 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 = 203.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.186798 meters # Minimum depth: 851.224253 meters looking forward 100.000000 meters along route # Maximum depth: 858.514773 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 801.224253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798493; longitude = -118.633931; captureRadius = 10; duration = 208; initialDepth = 799.505586; finalDepth = 801.224253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.364021 # Actual altitude: 55.364021 # Commanded vehicle depth: 801.224253 # Seafloor depth: -856.588274 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 221.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.15; MB_Bottom_Detect_Filter_Max_Range = 221.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.186396 meters # Minimum depth: 849.505586 meters looking forward 100.000000 meters along route # Maximum depth: 851.179455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 799.505586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799036; longitude = -118.634849; captureRadius = 10; duration = 208; initialDepth = 798.163382; finalDepth = 799.505586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.364021 # Actual altitude: 55.364021 # Commanded vehicle depth: 799.505586 # Seafloor depth: -851.179455 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 221.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.15; MB_Bottom_Detect_Filter_Max_Range = 221.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.185994 meters # Minimum depth: 848.163382 meters looking forward 100.000000 meters along route # Maximum depth: 850.763388 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 798.163382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799579; longitude = -118.635767; captureRadius = 10; duration = 208; initialDepth = 796.925579; finalDepth = 798.163382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.673869 # Actual altitude: 51.673869 # Commanded vehicle depth: 798.163382 # Seafloor depth: -849.497036 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 206.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.67; MB_Bottom_Detect_Filter_Max_Range = 206.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.185592 meters # Minimum depth: 846.925579 meters looking forward 100.000000 meters along route # Maximum depth: 851.780574 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 796.925579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800122; longitude = -118.636686; captureRadius = 10; duration = 208; initialDepth = 796.363377; finalDepth = 796.925579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.632395 # Actual altitude: 51.632395 # Commanded vehicle depth: 796.925579 # Seafloor depth: -848.557974 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 206.53; 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 = 206.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.185621 meters # Minimum depth: 846.363377 meters looking forward 100.000000 meters along route # Maximum depth: 852.666961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 796.363377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800665; longitude = -118.637604; captureRadius = 10; duration = 200; initialDepth = 792.127504; finalDepth = 796.363377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.632395 # Actual altitude: 51.632395 # Commanded vehicle depth: 796.363377 # Seafloor depth: -847.669038 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 206.53; 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 = 206.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 103.606070 meters # Minimum depth: 842.127504 meters looking forward 100.000000 meters along route # Maximum depth: 852.086041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 792.127504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801187; longitude = -118.638487; captureRadius = 10; duration = 207; initialDepth = 790.149521; finalDepth = 792.127504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.668764 # Actual altitude: 57.668764 # Commanded vehicle depth: 792.127504 # Seafloor depth: -849.796268 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; 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 23 # Segment length 103.605672 meters # Minimum depth: 840.149521 meters looking forward 100.000000 meters along route # Maximum depth: 842.125824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 790.149521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801727; longitude = -118.639400; captureRadius = 10; duration = 207; initialDepth = 790.277529; finalDepth = 790.149521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.668764 # Actual altitude: 57.668764 # Commanded vehicle depth: 790.149521 # Seafloor depth: -842.105427 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; 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 23 # Segment length 103.605274 meters # Minimum depth: 840.277529 meters looking forward 100.000000 meters along route # Maximum depth: 847.285592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 790.277529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802267; longitude = -118.640313; captureRadius = 10; duration = 207; initialDepth = 787.469590; finalDepth = 790.277529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9559059999999 # Actual altitude: 51.9559059999999 # Commanded vehicle depth: 790.277529 # Seafloor depth: -840.379190 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 207.82; 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 = 207.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 103.790851 meters # Minimum depth: 837.469590 meters looking forward 100.000000 meters along route # Maximum depth: 845.357578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 787.469590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802807; longitude = -118.641226; captureRadius = 10; duration = 207; initialDepth = 786.356599; finalDepth = 787.469590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.185703 # Actual altitude: 57.185703 # Commanded vehicle depth: 787.46959 # Seafloor depth: -844.655293 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 228.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.87; MB_Bottom_Detect_Filter_Max_Range = 228.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.043804 meters # Minimum depth: 836.356599 meters looking forward 100.000000 meters along route # Maximum depth: 837.466690 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.356599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803348; longitude = -118.642140; captureRadius = 10; duration = 200; initialDepth = 784.155320; finalDepth = 786.356599; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 57.185703 # Actual altitude: 57.185703 # Commanded vehicle depth: 786.356599 # Seafloor depth: -837.466690 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; subsys = SBP; pulseFile = SB106DW__1_5__6__20FM_TSB.spf; LoSS_Range = 200.00; MB_Range = 228.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.87; MB_Bottom_Detect_Filter_Max_Range = 228.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.74; 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 22 # Segment length 171.350254 meters # Minimum depth: 834.155320 meters looking forward 100.000000 meters along route # Maximum depth: 836.369156 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 784.155320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803870; longitude = -118.643022; captureRadius = 10; duration = 342; # abortOnTimeout = True; initialDepth = 779.768683; finalDepth = 784.155320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.213836 # Actual altitude: 52.213836 # Commanded vehicle depth: 784.15532 # Seafloor depth: -836.369156 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 208.86; 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 = 208.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.897712 meters # Minimum depth: 829.768683 meters looking forward 100.000000 meters along route # Maximum depth: 834.047617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 779.768683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802591; longitude = -118.644061; captureRadius = 10; duration = 203; initialDepth = 774.310449; finalDepth = 779.768683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2789339999999 # Actual altitude: 54.2789339999999 # Commanded vehicle depth: 779.768683 # Seafloor depth: -834.047617 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 217.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.71; MB_Bottom_Detect_Filter_Max_Range = 217.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.762508 meters # Minimum depth: 824.310449 meters looking forward 100.000000 meters along route # Maximum depth: 829.732869 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 774.310449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801831; longitude = -118.644679; captureRadius = 10; duration = 201; initialDepth = 769.613084; finalDepth = 774.310449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4224200000001 # Actual altitude: 55.4224200000001 # Commanded vehicle depth: 774.310449 # Seafloor depth: -829.732869 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 221.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.17; MB_Bottom_Detect_Filter_Max_Range = 221.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.330552 meters # Minimum depth: 819.613084 meters looking forward 100.000000 meters along route # Maximum depth: 824.146405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.613084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801079; longitude = -118.645290; captureRadius = 10; duration = 202; initialDepth = 755.024760; finalDepth = 769.613084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4224200000001 # Actual altitude: 55.4224200000001 # Commanded vehicle depth: 769.613084 # Seafloor depth: -824.146405 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 221.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.17; MB_Bottom_Detect_Filter_Max_Range = 221.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.330846 meters # Minimum depth: 805.024760 meters looking forward 100.000000 meters along route # Maximum depth: 819.226296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.024760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800323; longitude = -118.645904; captureRadius = 10; duration = 202; initialDepth = 751.379447; finalDepth = 755.024760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.201536 # Actual altitude: 64.201536 # Commanded vehicle depth: 755.02476 # Seafloor depth: -819.226296 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 256.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.68; MB_Bottom_Detect_Filter_Max_Range = 256.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.331140 meters # Minimum depth: 801.379447 meters looking forward 100.000000 meters along route # Maximum depth: 806.904507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.379447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799567; longitude = -118.646518; captureRadius = 10; duration = 202; initialDepth = 758.750502; finalDepth = 751.379447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.201536 # Actual altitude: 64.201536 # Commanded vehicle depth: 751.379447 # Seafloor depth: -804.915124 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 256.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.68; MB_Bottom_Detect_Filter_Max_Range = 256.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.331435 meters # Minimum depth: 808.750502 meters looking forward 100.000000 meters along route # Maximum depth: 827.150239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.750502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798811; longitude = -118.647133; captureRadius = 10; duration = 202; initialDepth = 777.954501; finalDepth = 758.750502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.535677 # Actual altitude: 53.535677 # Commanded vehicle depth: 758.750502 # Seafloor depth: -808.750502 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 214.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 214.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.331730 meters # Minimum depth: 827.954501 meters looking forward 100.000000 meters along route # Maximum depth: 835.801107 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 777.954501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798055; longitude = -118.647747; captureRadius = 10; duration = 202; initialDepth = 785.968943; finalDepth = 777.954501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 777.954501 # Seafloor depth: -827.954501 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.332024 meters # Minimum depth: 835.968943 meters looking forward 100.000000 meters along route # Maximum depth: 841.701733 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.968943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797299; longitude = -118.648361; captureRadius = 10; duration = 202; initialDepth = 791.772959; finalDepth = 785.968943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 785.968943 # Seafloor depth: -835.968943 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.864002 meters # Minimum depth: 841.772959 meters looking forward 100.000000 meters along route # Maximum depth: 845.874937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 791.772959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796542; longitude = -118.648976; captureRadius = 10; duration = 203; initialDepth = 795.893062; finalDepth = 791.772959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 791.772959 # Seafloor depth: -841.772959 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.800929 meters # Minimum depth: 845.893062 meters looking forward 100.000000 meters along route # Maximum depth: 849.538946 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 795.893062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795782; longitude = -118.649593; captureRadius = 10; duration = 201; initialDepth = 799.652164; finalDepth = 795.893062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 795.893062 # Seafloor depth: -845.893062 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.082575 meters # Minimum depth: 849.652164 meters looking forward 100.000000 meters along route # Maximum depth: 852.414017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 799.652164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795030; longitude = -118.650205; captureRadius = 10; duration = 208; initialDepth = 802.473560; finalDepth = 799.652164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 799.652164 # Seafloor depth: -849.652164 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.002460 meters # Minimum depth: 852.473560 meters looking forward 100.000000 meters along route # Maximum depth: 854.547299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 802.473560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794254; longitude = -118.650836; captureRadius = 10; duration = 202; initialDepth = 804.611694; finalDepth = 802.473560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 802.47356 # Seafloor depth: -852.473560 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; subsys = SBP; pulseFile = SB106DW__1__2_5__66FM_TSB.spf; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 21 # Segment length 113.661171 meters # Minimum depth: 854.611694 meters looking forward 100.000000 meters along route # Maximum depth: 857.208239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 804.611694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793500; longitude = -118.651448; captureRadius = 10; duration = 227; # abortOnTimeout = True; initialDepth = 807.220043; finalDepth = 804.611694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 804.611694 # Seafloor depth: -854.611694 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 102.554139 meters # Minimum depth: 857.220043 meters looking forward 100.000000 meters along route # Maximum depth: 859.209919 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 807.220043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792762; longitude = -118.652300; captureRadius = 10; duration = 205; initialDepth = 808.615864; finalDepth = 807.220043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 807.220043 # Seafloor depth: -857.220043 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 20 # Segment length 157.876188 meters # Minimum depth: 858.615864 meters looking forward 100.000000 meters along route # Maximum depth: 859.279755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 808.615864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792096; longitude = -118.653068; captureRadius = 10; duration = 315; # abortOnTimeout = True; initialDepth = 804.652731; finalDepth = 808.615864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.663891 # Actual altitude: 50.663891 # Commanded vehicle depth: 808.615864 # Seafloor depth: -859.279755 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; 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 to get to end of line 19 # Segment length 123.950802 meters # Minimum depth: 854.652731 meters looking forward 100.000000 meters along route # Maximum depth: 858.606979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 804.652731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792366; longitude = -118.651394; captureRadius = 10; duration = 247; # abortOnTimeout = True; initialDepth = 800.968694; finalDepth = 804.652731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 53.954248 # Actual altitude: 53.954248 # Commanded vehicle depth: 804.652731 # Seafloor depth: -858.606979 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 215.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.58; MB_Bottom_Detect_Filter_Max_Range = 215.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 171.328672 meters # Minimum depth: 850.968694 meters looking forward 100.000000 meters along route # Maximum depth: 854.611694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.968694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793482; longitude = -118.651466; captureRadius = 10; duration = 342; # abortOnTimeout = True; initialDepth = 797.225738; finalDepth = 800.968694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.954248 # Actual altitude: 53.954248 # Commanded vehicle depth: 800.968694 # Seafloor depth: -854.611694 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 215.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.58; MB_Bottom_Detect_Filter_Max_Range = 215.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.819595 meters # Minimum depth: 847.225738 meters looking forward 100.000000 meters along route # Maximum depth: 850.788177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 797.225738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794760; longitude = -118.650427; captureRadius = 10; duration = 203; initialDepth = 793.023888; finalDepth = 797.225738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6429999999999 # Actual altitude: 53.6429999999999 # Commanded vehicle depth: 797.225738 # Seafloor depth: -850.788177 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 214.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 214.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.871085 meters # Minimum depth: 843.023888 meters looking forward 100.000000 meters along route # Maximum depth: 847.211494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.023888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795520; longitude = -118.649809; captureRadius = 10; duration = 201; initialDepth = 789.536726; finalDepth = 793.023888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.187606 # Actual altitude: 54.187606 # Commanded vehicle depth: 793.023888 # Seafloor depth: -847.211494 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 216.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.68; MB_Bottom_Detect_Filter_Max_Range = 216.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.344898 meters # Minimum depth: 839.536726 meters looking forward 100.000000 meters along route # Maximum depth: 842.955530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 789.536726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796272; longitude = -118.649198; captureRadius = 10; duration = 202; initialDepth = 780.841493; finalDepth = 789.536726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.187606 # Actual altitude: 54.187606 # Commanded vehicle depth: 789.536726 # Seafloor depth: -842.955530 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 216.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.68; MB_Bottom_Detect_Filter_Max_Range = 216.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.344604 meters # Minimum depth: 830.841493 meters looking forward 100.000000 meters along route # Maximum depth: 839.182596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 780.841493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797029; longitude = -118.648583; captureRadius = 10; duration = 202; initialDepth = 766.500291; finalDepth = 780.841493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.341103 # Actual altitude: 58.341103 # Commanded vehicle depth: 780.841493 # Seafloor depth: -839.182596 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 233.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.34; MB_Bottom_Detect_Filter_Max_Range = 233.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.344308 meters # Minimum depth: 816.500291 meters looking forward 100.000000 meters along route # Maximum depth: 830.780950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 766.500291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797785; longitude = -118.647969; captureRadius = 10; duration = 202; initialDepth = 751.543991; finalDepth = 766.500291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.280659 # Actual altitude: 64.280659 # Commanded vehicle depth: 766.500291 # Seafloor depth: -830.780950 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 257.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.71; MB_Bottom_Detect_Filter_Max_Range = 257.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.344014 meters # Minimum depth: 801.543991 meters looking forward 100.000000 meters along route # Maximum depth: 815.255732 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.543991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798541; longitude = -118.647354; captureRadius = 10; duration = 202; initialDepth = 751.368405; finalDepth = 751.543991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.280659 # Actual altitude: 64.280659 # Commanded vehicle depth: 751.543991 # Seafloor depth: -815.255732 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 257.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.71; MB_Bottom_Detect_Filter_Max_Range = 257.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.343720 meters # Minimum depth: 801.368405 meters looking forward 100.000000 meters along route # Maximum depth: 816.755676 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.368405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799297; longitude = -118.646739; captureRadius = 10; duration = 202; initialDepth = 766.891809; finalDepth = 751.368405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.711741 # Actual altitude: 63.711741 # Commanded vehicle depth: 751.368405 # Seafloor depth: -802.070208 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 254.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.48; MB_Bottom_Detect_Filter_Max_Range = 254.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.343424 meters # Minimum depth: 816.891809 meters looking forward 100.000000 meters along route # Maximum depth: 822.169641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 766.891809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800053; longitude = -118.646125; captureRadius = 10; duration = 202; initialDepth = 772.392421; finalDepth = 766.891809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7018029999999 # Actual altitude: 50.7018029999999 # Commanded vehicle depth: 766.891809 # Seafloor depth: -816.891809 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 202.81; 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 = 202.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.457174 meters # Minimum depth: 822.392421 meters looking forward 100.000000 meters along route # Maximum depth: 827.488394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 772.392421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800809; longitude = -118.645510; captureRadius = 10; duration = 202; initialDepth = 777.494101; finalDepth = 772.392421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 772.392421 # Seafloor depth: -822.392421 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.228792 meters # Minimum depth: 827.494101 meters looking forward 100.000000 meters along route # Maximum depth: 832.516764 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 777.494101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801566; longitude = -118.644895; captureRadius = 10; duration = 202; initialDepth = 782.587154; finalDepth = 777.494101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 777.494101 # Seafloor depth: -827.494101 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.592887 meters # Minimum depth: 832.587154 meters looking forward 100.000000 meters along route # Maximum depth: 835.245549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 782.587154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802321; longitude = -118.644281; captureRadius = 10; duration = 207; initialDepth = 785.279795; finalDepth = 782.587154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 782.587154 # Seafloor depth: -832.587154 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.972754 meters # Minimum depth: 835.279795 meters looking forward 100.000000 meters along route # Maximum depth: 836.393163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.279795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803094; longitude = -118.643653; captureRadius = 10; duration = 207; initialDepth = 785.786741; finalDepth = 785.279795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 785.279795 # Seafloor depth: -835.279795 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; subsys = SBP; pulseFile = SB106DW__1_5__10__12WB_TSB.spf; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 17 # Segment length 173.301860 meters # Minimum depth: 835.786741 meters looking forward 100.000000 meters along route # Maximum depth: 836.602330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.786741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803870; longitude = -118.643022; captureRadius = 10; duration = 346; # abortOnTimeout = True; initialDepth = 784.555160; finalDepth = 785.786741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.582415 # Actual altitude: 50.582415 # Commanded vehicle depth: 785.786741 # Seafloor depth: -836.369156 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 202.33; 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 = 202.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.195859 meters # Minimum depth: 834.555160 meters looking forward 100.000000 meters along route # Maximum depth: 835.774603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 784.555160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805136; longitude = -118.641924; captureRadius = 10; duration = 210; initialDepth = 784.555160; finalDepth = 784.555160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.219443 # Actual altitude: 51.219443 # Commanded vehicle depth: 784.55516 # Seafloor depth: -835.774603 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 204.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 80.598589 meters # Minimum depth: 834.555160 meters looking forward 100.000000 meters along route # Maximum depth: 834.841801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 784.555160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805904; longitude = -118.641258; captureRadius = 10; duration = 161; # abortOnTimeout = True; initialDepth = 784.815215; finalDepth = 784.555160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.219443 # Actual altitude: 51.219443 # Commanded vehicle depth: 784.55516 # Seafloor depth: -834.626526 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 204.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 103.038147 meters # Minimum depth: 834.815215 meters looking forward 100.000000 meters along route # Maximum depth: 846.136855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 784.815215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806102; longitude = -118.642096; captureRadius = 10; duration = 206; initialDepth = 785.227370; finalDepth = 784.815215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.071366 # Actual altitude: 50.071366 # Commanded vehicle depth: 784.815215 # Seafloor depth: -834.815215 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; 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 16 # Segment length 102.234580 meters # Minimum depth: 835.227370 meters looking forward 100.000000 meters along route # Maximum depth: 841.883403 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.227370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806355; longitude = -118.643166; captureRadius = 10; duration = 204; initialDepth = 785.617035; finalDepth = 785.227370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 56.6560330000001 # Actual altitude: 56.6560330000001 # Commanded vehicle depth: 785.22737 # Seafloor depth: -841.883403 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 226.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.66; MB_Bottom_Detect_Filter_Max_Range = 226.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 117.023888 meters # Minimum depth: 835.617035 meters looking forward 100.000000 meters along route # Maximum depth: 836.377020 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.617035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806606; longitude = -118.644229; captureRadius = 10; duration = 234; # abortOnTimeout = True; initialDepth = 786.762710; finalDepth = 785.617035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6560330000001 # Actual altitude: 56.6560330000001 # Commanded vehicle depth: 785.617035 # Seafloor depth: -835.617035 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 226.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.66; MB_Bottom_Detect_Filter_Max_Range = 226.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 102.129681 meters # Minimum depth: 836.762710 meters looking forward 100.000000 meters along route # Maximum depth: 845.453670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.762710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805616; longitude = -118.643792; captureRadius = 10; duration = 204; initialDepth = 786.257797; finalDepth = 786.762710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 786.76271 # Seafloor depth: -836.762710 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.208948 meters # Minimum depth: 836.257797 meters looking forward 100.000000 meters along route # Maximum depth: 839.229986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.257797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804752; longitude = -118.643411; captureRadius = 10; duration = 208; initialDepth = 784.155521; finalDepth = 786.257797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 52.9721890000001 # Actual altitude: 52.9721890000001 # Commanded vehicle depth: 786.257797 # Seafloor depth: -839.229986 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 211.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.19; MB_Bottom_Detect_Filter_Max_Range = 211.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 171.371843 meters # Minimum depth: 834.155521 meters looking forward 100.000000 meters along route # Maximum depth: 836.369156 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 784.155521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803870; longitude = -118.643022; captureRadius = 10; duration = 342; # abortOnTimeout = True; initialDepth = 779.767334; finalDepth = 784.155521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9721890000001 # Actual altitude: 52.9721890000001 # Commanded vehicle depth: 784.155521 # Seafloor depth: -836.369156 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 211.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.19; MB_Bottom_Detect_Filter_Max_Range = 211.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.801342 meters # Minimum depth: 829.767334 meters looking forward 100.000000 meters along route # Maximum depth: 834.046347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 779.767334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802591; longitude = -118.644061; captureRadius = 10; duration = 203; initialDepth = 774.315361; finalDepth = 779.767334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.279013 # Actual altitude: 54.279013 # Commanded vehicle depth: 779.767334 # Seafloor depth: -834.046347 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 217.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.71; MB_Bottom_Detect_Filter_Max_Range = 217.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.884413 meters # Minimum depth: 824.315361 meters looking forward 100.000000 meters along route # Maximum depth: 829.738406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 774.315361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801832; longitude = -118.644679; captureRadius = 10; duration = 201; initialDepth = 769.621251; finalDepth = 774.315361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.423045 # Actual altitude: 55.423045 # Commanded vehicle depth: 774.315361 # Seafloor depth: -829.738406 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 221.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.17; MB_Bottom_Detect_Filter_Max_Range = 221.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.343319 meters # Minimum depth: 819.621251 meters looking forward 100.000000 meters along route # Maximum depth: 824.142523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.621251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801079; longitude = -118.645291; captureRadius = 10; duration = 202; initialDepth = 755.056335; finalDepth = 769.621251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.423045 # Actual altitude: 55.423045 # Commanded vehicle depth: 769.621251 # Seafloor depth: -824.142523 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 221.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.17; MB_Bottom_Detect_Filter_Max_Range = 221.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.343614 meters # Minimum depth: 805.056335 meters looking forward 100.000000 meters along route # Maximum depth: 819.222567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.056335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800323; longitude = -118.645905; captureRadius = 10; duration = 202; initialDepth = 751.368405; finalDepth = 755.056335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.166232 # Actual altitude: 64.166232 # Commanded vehicle depth: 755.056335 # Seafloor depth: -819.222567 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 256.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.67; MB_Bottom_Detect_Filter_Max_Range = 256.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.343909 meters # Minimum depth: 801.368405 meters looking forward 100.000000 meters along route # Maximum depth: 806.805156 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.368405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799567; longitude = -118.646520; captureRadius = 10; duration = 202; initialDepth = 758.778694; finalDepth = 751.368405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.166232 # Actual altitude: 64.166232 # Commanded vehicle depth: 751.368405 # Seafloor depth: -804.901547 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 256.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.67; MB_Bottom_Detect_Filter_Max_Range = 256.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.344203 meters # Minimum depth: 808.778694 meters looking forward 100.000000 meters along route # Maximum depth: 827.161175 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.778694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798811; longitude = -118.647134; captureRadius = 10; duration = 202; initialDepth = 777.961580; finalDepth = 758.778694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.533142 # Actual altitude: 53.533142 # Commanded vehicle depth: 758.778694 # Seafloor depth: -808.778694 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 214.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 214.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.344498 meters # Minimum depth: 827.961580 meters looking forward 100.000000 meters along route # Maximum depth: 835.772950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 777.961580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798055; longitude = -118.647749; captureRadius = 10; duration = 202; initialDepth = 785.975762; finalDepth = 777.961580; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 777.96158 # Seafloor depth: -827.961580 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.344793 meters # Minimum depth: 835.975762 meters looking forward 100.000000 meters along route # Maximum depth: 841.704571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.975762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797299; longitude = -118.648364; captureRadius = 10; duration = 202; initialDepth = 791.781370; finalDepth = 785.975762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 785.975762 # Seafloor depth: -835.975762 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.443649 meters # Minimum depth: 841.781370 meters looking forward 100.000000 meters along route # Maximum depth: 845.885578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 791.781370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796542; longitude = -118.648978; captureRadius = 10; duration = 202; initialDepth = 795.888939; finalDepth = 791.781370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 791.78137 # Seafloor depth: -841.781370 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.246821 meters # Minimum depth: 845.888939 meters looking forward 100.000000 meters along route # Maximum depth: 849.531876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 795.888939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795786; longitude = -118.649593; captureRadius = 10; duration = 202; initialDepth = 799.664135; finalDepth = 795.888939; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 795.888939 # Seafloor depth: -845.888939 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.580615 meters # Minimum depth: 849.664135 meters looking forward 100.000000 meters along route # Maximum depth: 852.418339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 799.664135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795030; longitude = -118.650207; captureRadius = 10; duration = 207; initialDepth = 802.466737; finalDepth = 799.664135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 799.664135 # Seafloor depth: -849.664135 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.942908 meters # Minimum depth: 852.466737 meters looking forward 100.000000 meters along route # Maximum depth: 854.549001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 802.466737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794257; longitude = -118.650836; captureRadius = 10; duration = 207; initialDepth = 804.611694; finalDepth = 802.466737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 802.466737 # Seafloor depth: -852.466737 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; subsys = SBP; pulseFile = SB106DW__1_5__10__12FM_TSB.spf; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 13 # Segment length 115.744898 meters # Minimum depth: 854.611694 meters looking forward 100.000000 meters along route # Maximum depth: 857.214015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 804.611694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793482; longitude = -118.651466; captureRadius = 10; duration = 231; # abortOnTimeout = True; initialDepth = 807.271138; finalDepth = 804.611694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 804.611694 # Seafloor depth: -854.611694 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.969133 meters # Minimum depth: 857.271138 meters looking forward 100.000000 meters along route # Maximum depth: 859.195409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 807.271138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792742; longitude = -118.652348; captureRadius = 10; duration = 207; initialDepth = 808.616362; finalDepth = 807.271138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 807.271138 # Seafloor depth: -857.271138 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 12 # Segment length 164.802405 meters # Minimum depth: 858.616362 meters looking forward 100.000000 meters along route # Maximum depth: 859.278885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 808.616362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792078; longitude = -118.653140; captureRadius = 10; duration = 329; # abortOnTimeout = True; initialDepth = 804.652731; finalDepth = 808.616362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.662523 # Actual altitude: 50.662523 # Commanded vehicle depth: 808.616362 # Seafloor depth: -859.278885 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 202.65; 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 = 202.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 123.950802 meters # Minimum depth: 854.652731 meters looking forward 100.000000 meters along route # Maximum depth: 858.606979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 804.652731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792366; longitude = -118.651394; captureRadius = 10; duration = 247; # abortOnTimeout = True; initialDepth = 800.968694; finalDepth = 804.652731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 53.954248 # Actual altitude: 53.954248 # Commanded vehicle depth: 804.652731 # Seafloor depth: -858.606979 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 215.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.58; MB_Bottom_Detect_Filter_Max_Range = 215.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 171.328672 meters # Minimum depth: 850.968694 meters looking forward 100.000000 meters along route # Maximum depth: 854.611694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.968694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793482; longitude = -118.651466; captureRadius = 10; duration = 342; # abortOnTimeout = True; initialDepth = 797.225738; finalDepth = 800.968694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.954248 # Actual altitude: 53.954248 # Commanded vehicle depth: 800.968694 # Seafloor depth: -854.611694 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 215.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.58; MB_Bottom_Detect_Filter_Max_Range = 215.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.819595 meters # Minimum depth: 847.225738 meters looking forward 100.000000 meters along route # Maximum depth: 850.788177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 797.225738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794760; longitude = -118.650427; captureRadius = 10; duration = 203; initialDepth = 793.023888; finalDepth = 797.225738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6429999999999 # Actual altitude: 53.6429999999999 # Commanded vehicle depth: 797.225738 # Seafloor depth: -850.788177 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 214.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 214.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.871085 meters # Minimum depth: 843.023888 meters looking forward 100.000000 meters along route # Maximum depth: 847.211494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.023888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795520; longitude = -118.649809; captureRadius = 10; duration = 201; initialDepth = 789.536726; finalDepth = 793.023888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.187606 # Actual altitude: 54.187606 # Commanded vehicle depth: 793.023888 # Seafloor depth: -847.211494 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 216.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.68; MB_Bottom_Detect_Filter_Max_Range = 216.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.344898 meters # Minimum depth: 839.536726 meters looking forward 100.000000 meters along route # Maximum depth: 842.955530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 789.536726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796272; longitude = -118.649198; captureRadius = 10; duration = 202; initialDepth = 780.841493; finalDepth = 789.536726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.187606 # Actual altitude: 54.187606 # Commanded vehicle depth: 789.536726 # Seafloor depth: -842.955530 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 216.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.68; MB_Bottom_Detect_Filter_Max_Range = 216.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.344604 meters # Minimum depth: 830.841493 meters looking forward 100.000000 meters along route # Maximum depth: 839.182596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 780.841493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797029; longitude = -118.648583; captureRadius = 10; duration = 202; initialDepth = 766.500291; finalDepth = 780.841493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.341103 # Actual altitude: 58.341103 # Commanded vehicle depth: 780.841493 # Seafloor depth: -839.182596 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 233.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.34; MB_Bottom_Detect_Filter_Max_Range = 233.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.344308 meters # Minimum depth: 816.500291 meters looking forward 100.000000 meters along route # Maximum depth: 830.780950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 766.500291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797785; longitude = -118.647969; captureRadius = 10; duration = 202; initialDepth = 751.543991; finalDepth = 766.500291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.280659 # Actual altitude: 64.280659 # Commanded vehicle depth: 766.500291 # Seafloor depth: -830.780950 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 257.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.71; MB_Bottom_Detect_Filter_Max_Range = 257.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.344014 meters # Minimum depth: 801.543991 meters looking forward 100.000000 meters along route # Maximum depth: 815.255732 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.543991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798541; longitude = -118.647354; captureRadius = 10; duration = 202; initialDepth = 751.368405; finalDepth = 751.543991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.280659 # Actual altitude: 64.280659 # Commanded vehicle depth: 751.543991 # Seafloor depth: -815.255732 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 257.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.71; MB_Bottom_Detect_Filter_Max_Range = 257.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.343720 meters # Minimum depth: 801.368405 meters looking forward 100.000000 meters along route # Maximum depth: 816.755676 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.368405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799297; longitude = -118.646739; captureRadius = 10; duration = 202; initialDepth = 766.891809; finalDepth = 751.368405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.711741 # Actual altitude: 63.711741 # Commanded vehicle depth: 751.368405 # Seafloor depth: -802.070208 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 254.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.48; MB_Bottom_Detect_Filter_Max_Range = 254.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.343424 meters # Minimum depth: 816.891809 meters looking forward 100.000000 meters along route # Maximum depth: 822.169641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 766.891809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800053; longitude = -118.646125; captureRadius = 10; duration = 202; initialDepth = 772.392421; finalDepth = 766.891809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7018029999999 # Actual altitude: 50.7018029999999 # Commanded vehicle depth: 766.891809 # Seafloor depth: -816.891809 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 202.81; 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 = 202.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.457174 meters # Minimum depth: 822.392421 meters looking forward 100.000000 meters along route # Maximum depth: 827.488394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 772.392421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800809; longitude = -118.645510; captureRadius = 10; duration = 202; initialDepth = 777.494101; finalDepth = 772.392421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 772.392421 # Seafloor depth: -822.392421 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.228792 meters # Minimum depth: 827.494101 meters looking forward 100.000000 meters along route # Maximum depth: 832.516764 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 777.494101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801566; longitude = -118.644895; captureRadius = 10; duration = 202; initialDepth = 782.587154; finalDepth = 777.494101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 777.494101 # Seafloor depth: -827.494101 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.592887 meters # Minimum depth: 832.587154 meters looking forward 100.000000 meters along route # Maximum depth: 835.245549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 782.587154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802321; longitude = -118.644281; captureRadius = 10; duration = 207; initialDepth = 785.279795; finalDepth = 782.587154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 782.587154 # Seafloor depth: -832.587154 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.972754 meters # Minimum depth: 835.279795 meters looking forward 100.000000 meters along route # Maximum depth: 836.393163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.279795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803094; longitude = -118.643653; captureRadius = 10; duration = 207; initialDepth = 785.786741; finalDepth = 785.279795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 785.279795 # Seafloor depth: -835.279795 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; subsys = SBP; pulseFile = SB106DW__1_5__4_5__33FM_TSB.spf; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 9 # Segment length 173.301860 meters # Minimum depth: 835.786741 meters looking forward 100.000000 meters along route # Maximum depth: 836.602330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.786741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803870; longitude = -118.643022; captureRadius = 10; duration = 346; # abortOnTimeout = True; initialDepth = 784.555160; finalDepth = 785.786741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.582415 # Actual altitude: 50.582415 # Commanded vehicle depth: 785.786741 # Seafloor depth: -836.369156 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 202.33; 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 = 202.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.195859 meters # Minimum depth: 834.555160 meters looking forward 100.000000 meters along route # Maximum depth: 835.774603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 784.555160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805136; longitude = -118.641924; captureRadius = 10; duration = 210; initialDepth = 784.555160; finalDepth = 784.555160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.219443 # Actual altitude: 51.219443 # Commanded vehicle depth: 784.55516 # Seafloor depth: -835.774603 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 204.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 80.598589 meters # Minimum depth: 834.555160 meters looking forward 100.000000 meters along route # Maximum depth: 834.841801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 784.555160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805904; longitude = -118.641258; captureRadius = 10; duration = 161; # abortOnTimeout = True; initialDepth = 784.815215; finalDepth = 784.555160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.219443 # Actual altitude: 51.219443 # Commanded vehicle depth: 784.55516 # Seafloor depth: -834.626526 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 204.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 103.038147 meters # Minimum depth: 834.815215 meters looking forward 100.000000 meters along route # Maximum depth: 846.136855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 784.815215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806102; longitude = -118.642096; captureRadius = 10; duration = 206; initialDepth = 785.227370; finalDepth = 784.815215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.071366 # Actual altitude: 50.071366 # Commanded vehicle depth: 784.815215 # Seafloor depth: -834.815215 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; 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 8 # Segment length 102.234580 meters # Minimum depth: 835.227370 meters looking forward 100.000000 meters along route # Maximum depth: 841.883403 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.227370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806355; longitude = -118.643166; captureRadius = 10; duration = 204; initialDepth = 785.617035; finalDepth = 785.227370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 56.6560330000001 # Actual altitude: 56.6560330000001 # Commanded vehicle depth: 785.22737 # Seafloor depth: -841.883403 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 226.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.66; MB_Bottom_Detect_Filter_Max_Range = 226.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 117.023888 meters # Minimum depth: 835.617035 meters looking forward 100.000000 meters along route # Maximum depth: 836.377020 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.617035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806606; longitude = -118.644229; captureRadius = 10; duration = 234; # abortOnTimeout = True; initialDepth = 786.762710; finalDepth = 785.617035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6560330000001 # Actual altitude: 56.6560330000001 # Commanded vehicle depth: 785.617035 # Seafloor depth: -835.617035 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 226.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.66; MB_Bottom_Detect_Filter_Max_Range = 226.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 102.129681 meters # Minimum depth: 836.762710 meters looking forward 100.000000 meters along route # Maximum depth: 845.453670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.762710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805616; longitude = -118.643792; captureRadius = 10; duration = 204; initialDepth = 786.257797; finalDepth = 786.762710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 786.76271 # Seafloor depth: -836.762710 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.208947 meters # Minimum depth: 836.257797 meters looking forward 100.000000 meters along route # Maximum depth: 839.229986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.257797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804752; longitude = -118.643411; captureRadius = 10; duration = 208; initialDepth = 784.155521; finalDepth = 786.257797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 52.9721890000001 # Actual altitude: 52.9721890000001 # Commanded vehicle depth: 786.257797 # Seafloor depth: -839.229986 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 211.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.19; MB_Bottom_Detect_Filter_Max_Range = 211.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 171.371844 meters # Minimum depth: 834.155521 meters looking forward 100.000000 meters along route # Maximum depth: 836.369156 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 784.155521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803870; longitude = -118.643022; captureRadius = 10; duration = 342; # abortOnTimeout = True; initialDepth = 779.767334; finalDepth = 784.155521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9721890000001 # Actual altitude: 52.9721890000001 # Commanded vehicle depth: 784.155521 # Seafloor depth: -836.369156 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 211.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.19; MB_Bottom_Detect_Filter_Max_Range = 211.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.801342 meters # Minimum depth: 829.767334 meters looking forward 100.000000 meters along route # Maximum depth: 834.046347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 779.767334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802591; longitude = -118.644061; captureRadius = 10; duration = 203; initialDepth = 774.315361; finalDepth = 779.767334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.279013 # Actual altitude: 54.279013 # Commanded vehicle depth: 779.767334 # Seafloor depth: -834.046347 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 217.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.71; MB_Bottom_Detect_Filter_Max_Range = 217.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.884412 meters # Minimum depth: 824.315361 meters looking forward 100.000000 meters along route # Maximum depth: 829.738406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 774.315361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801832; longitude = -118.644679; captureRadius = 10; duration = 201; initialDepth = 769.621251; finalDepth = 774.315361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.423045 # Actual altitude: 55.423045 # Commanded vehicle depth: 774.315361 # Seafloor depth: -829.738406 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 221.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.17; MB_Bottom_Detect_Filter_Max_Range = 221.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.343320 meters # Minimum depth: 819.621251 meters looking forward 100.000000 meters along route # Maximum depth: 824.142523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.621251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801079; longitude = -118.645291; captureRadius = 10; duration = 202; initialDepth = 755.056335; finalDepth = 769.621251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.423045 # Actual altitude: 55.423045 # Commanded vehicle depth: 769.621251 # Seafloor depth: -824.142523 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 221.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.17; MB_Bottom_Detect_Filter_Max_Range = 221.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.343614 meters # Minimum depth: 805.056335 meters looking forward 100.000000 meters along route # Maximum depth: 819.222567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.056335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800323; longitude = -118.645905; captureRadius = 10; duration = 202; initialDepth = 751.368405; finalDepth = 755.056335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.166232 # Actual altitude: 64.166232 # Commanded vehicle depth: 755.056335 # Seafloor depth: -819.222567 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 256.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.67; MB_Bottom_Detect_Filter_Max_Range = 256.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.343909 meters # Minimum depth: 801.368405 meters looking forward 100.000000 meters along route # Maximum depth: 806.805156 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.368405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799567; longitude = -118.646520; captureRadius = 10; duration = 202; initialDepth = 758.778694; finalDepth = 751.368405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.166232 # Actual altitude: 64.166232 # Commanded vehicle depth: 751.368405 # Seafloor depth: -804.901547 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 256.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.67; MB_Bottom_Detect_Filter_Max_Range = 256.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.344203 meters # Minimum depth: 808.778694 meters looking forward 100.000000 meters along route # Maximum depth: 827.161175 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.778694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798811; longitude = -118.647134; captureRadius = 10; duration = 202; initialDepth = 777.961580; finalDepth = 758.778694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.533142 # Actual altitude: 53.533142 # Commanded vehicle depth: 758.778694 # Seafloor depth: -808.778694 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 214.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 214.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.344498 meters # Minimum depth: 827.961580 meters looking forward 100.000000 meters along route # Maximum depth: 835.772950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 777.961580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798055; longitude = -118.647749; captureRadius = 10; duration = 202; initialDepth = 785.975762; finalDepth = 777.961580; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 777.96158 # Seafloor depth: -827.961580 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.344793 meters # Minimum depth: 835.975762 meters looking forward 100.000000 meters along route # Maximum depth: 841.704571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.975762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797299; longitude = -118.648364; captureRadius = 10; duration = 202; initialDepth = 791.781370; finalDepth = 785.975762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 785.975762 # Seafloor depth: -835.975762 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.443649 meters # Minimum depth: 841.781370 meters looking forward 100.000000 meters along route # Maximum depth: 845.885578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 791.781370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796542; longitude = -118.648978; captureRadius = 10; duration = 202; initialDepth = 795.888939; finalDepth = 791.781370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 791.78137 # Seafloor depth: -841.781370 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.246821 meters # Minimum depth: 845.888939 meters looking forward 100.000000 meters along route # Maximum depth: 849.531876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 795.888939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795786; longitude = -118.649593; captureRadius = 10; duration = 202; initialDepth = 799.664135; finalDepth = 795.888939; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 795.888939 # Seafloor depth: -845.888939 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.580614 meters # Minimum depth: 849.664135 meters looking forward 100.000000 meters along route # Maximum depth: 852.418339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 799.664135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795030; longitude = -118.650207; captureRadius = 10; duration = 207; initialDepth = 802.466737; finalDepth = 799.664135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 799.664135 # Seafloor depth: -849.664135 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.942908 meters # Minimum depth: 852.466737 meters looking forward 100.000000 meters along route # Maximum depth: 854.549001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 802.466737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794257; longitude = -118.650836; captureRadius = 10; duration = 207; initialDepth = 804.611694; finalDepth = 802.466737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 802.466737 # Seafloor depth: -852.466737 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; subsys = SBP; pulseFile = SB106DW__1_5__6__20WB_TSB.spf; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 5 # Segment length 115.744899 meters # Minimum depth: 854.611694 meters looking forward 100.000000 meters along route # Maximum depth: 857.214015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 804.611694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793482; longitude = -118.651466; captureRadius = 10; duration = 231; # abortOnTimeout = True; initialDepth = 807.271138; finalDepth = 804.611694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 804.611694 # Seafloor depth: -854.611694 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 103.969132 meters # Minimum depth: 857.271138 meters looking forward 100.000000 meters along route # Maximum depth: 859.195409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 807.271138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792742; longitude = -118.652348; captureRadius = 10; duration = 207; initialDepth = 808.616362; finalDepth = 807.271138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 807.271138 # Seafloor depth: -857.271138 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 4 # Segment length 164.802406 meters # Minimum depth: 858.616362 meters looking forward 100.000000 meters along route # Maximum depth: 859.278885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 808.616362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792078; longitude = -118.653140; captureRadius = 10; duration = 329; # abortOnTimeout = True; initialDepth = 804.652731; finalDepth = 808.616362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.662523 # Actual altitude: 50.662523 # Commanded vehicle depth: 808.616362 # Seafloor depth: -859.278885 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 202.65; 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 = 202.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 123.950802 meters # Minimum depth: 854.652731 meters looking forward 100.000000 meters along route # Maximum depth: 858.606979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 804.652731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.792366; longitude = -118.651394; captureRadius = 10; duration = 247; # abortOnTimeout = True; initialDepth = 802.969835; finalDepth = 804.652731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 53.954248 # Actual altitude: 53.954248 # Commanded vehicle depth: 804.652731 # Seafloor depth: -858.606979 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 215.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.58; MB_Bottom_Detect_Filter_Max_Range = 215.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 91.727761 meters # Minimum depth: 852.969835 meters looking forward 100.000000 meters along route # Maximum depth: 854.824697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 802.969835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793482; longitude = -118.651466; captureRadius = 10; duration = 183; # abortOnTimeout = True; initialDepth = 800.202602; finalDepth = 802.969835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.954248 # Actual altitude: 53.954248 # Commanded vehicle depth: 802.969835 # Seafloor depth: -854.611694 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 215.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.58; MB_Bottom_Detect_Filter_Max_Range = 215.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.376546 meters # Minimum depth: 850.202602 meters looking forward 100.000000 meters along route # Maximum depth: 852.817974 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.202602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794166; longitude = -118.650909; captureRadius = 10; duration = 202; initialDepth = 796.545639; finalDepth = 800.202602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6153720000001 # Actual altitude: 52.6153720000001 # Commanded vehicle depth: 800.202602 # Seafloor depth: -852.817974 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 210.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.05; MB_Bottom_Detect_Filter_Max_Range = 210.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.376250 meters # Minimum depth: 846.545639 meters looking forward 100.000000 meters along route # Maximum depth: 850.198192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 796.545639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794922; longitude = -118.650294; captureRadius = 10; duration = 202; initialDepth = 792.517243; finalDepth = 796.545639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6525529999999 # Actual altitude: 53.6525529999999 # Commanded vehicle depth: 796.545639 # Seafloor depth: -850.198192 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 214.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 214.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.375956 meters # Minimum depth: 842.517243 meters looking forward 100.000000 meters along route # Maximum depth: 846.386213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 792.517243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795678; longitude = -118.649679; captureRadius = 10; duration = 202; initialDepth = 787.701904; finalDepth = 792.517243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.86897 # Actual altitude: 53.86897 # Commanded vehicle depth: 792.517243 # Seafloor depth: -846.386213 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 215.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.55; MB_Bottom_Detect_Filter_Max_Range = 215.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.375660 meters # Minimum depth: 837.701904 meters looking forward 100.000000 meters along route # Maximum depth: 842.217256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 787.701904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796434; longitude = -118.649064; captureRadius = 10; duration = 202; initialDepth = 779.377176; finalDepth = 787.701904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.515352 # Actual altitude: 54.515352 # Commanded vehicle depth: 787.701904 # Seafloor depth: -842.217256 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 218.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.81; MB_Bottom_Detect_Filter_Max_Range = 218.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.375365 meters # Minimum depth: 829.377176 meters looking forward 100.000000 meters along route # Maximum depth: 837.524452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 779.377176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797191; longitude = -118.648449; captureRadius = 10; duration = 202; initialDepth = 759.894803; finalDepth = 779.377176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.147276 # Actual altitude: 58.147276 # Commanded vehicle depth: 779.377176 # Seafloor depth: -837.524452 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 232.59; 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 = 232.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.541218 meters # Minimum depth: 809.894803 meters looking forward 100.000000 meters along route # Maximum depth: 828.894590 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.894803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797947; longitude = -118.647833; captureRadius = 10; duration = 203; initialDepth = 751.403751; finalDepth = 759.894803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.999787 # Actual altitude: 68.999787 # Commanded vehicle depth: 759.894803 # Seafloor depth: -828.894590 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 276.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.60; MB_Bottom_Detect_Filter_Max_Range = 276.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.208626 meters # Minimum depth: 801.403751 meters looking forward 100.000000 meters along route # Maximum depth: 811.421008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.403751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798704; longitude = -118.647217; captureRadius = 10; duration = 202; initialDepth = 752.603391; finalDepth = 751.403751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.999787 # Actual altitude: 68.999787 # Commanded vehicle depth: 751.403751 # Seafloor depth: -809.886273 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 276.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.60; MB_Bottom_Detect_Filter_Max_Range = 276.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.374480 meters # Minimum depth: 802.603391 meters looking forward 100.000000 meters along route # Maximum depth: 818.022842 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.603391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799459; longitude = -118.646603; captureRadius = 10; duration = 202; initialDepth = 768.458149; finalDepth = 752.603391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.4825219999999 # Actual altitude: 58.4825219999999 # Commanded vehicle depth: 752.603391 # Seafloor depth: -802.603391 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 233.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.39; MB_Bottom_Detect_Filter_Max_Range = 233.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.374184 meters # Minimum depth: 818.458149 meters looking forward 100.000000 meters along route # Maximum depth: 823.316206 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 768.458149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800215; longitude = -118.645988; captureRadius = 10; duration = 202; initialDepth = 773.376992; finalDepth = 768.458149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 768.458149 # Seafloor depth: -818.458149 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.373889 meters # Minimum depth: 823.376992 meters looking forward 100.000000 meters along route # Maximum depth: 828.527465 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 773.376992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800971; longitude = -118.645372; captureRadius = 10; duration = 202; initialDepth = 778.825492; finalDepth = 773.376992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 773.376992 # Seafloor depth: -823.376992 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.938997 meters # Minimum depth: 828.825492 meters looking forward 100.000000 meters along route # Maximum depth: 833.624137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 778.825492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801727; longitude = -118.644757; captureRadius = 10; duration = 203; initialDepth = 783.644073; finalDepth = 778.825492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 778.825492 # Seafloor depth: -828.825492 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.807897 meters # Minimum depth: 833.644073 meters looking forward 100.000000 meters along route # Maximum depth: 835.615620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 783.644073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802488; longitude = -118.644139; captureRadius = 10; duration = 201; initialDepth = 785.673625; finalDepth = 783.644073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 783.644073 # Seafloor depth: -833.644073 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.373003 meters # Minimum depth: 835.673625 meters looking forward 100.000000 meters along route # Maximum depth: 836.456894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.673625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803239; longitude = -118.643527; captureRadius = 10; duration = 202; initialDepth = 786.455112; finalDepth = 785.673625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 785.673625 # Seafloor depth: -835.673625 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.372709 meters # Minimum depth: 836.455112 meters looking forward 100.000000 meters along route # Maximum depth: 836.605622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.455112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803996; longitude = -118.642912; captureRadius = 10; duration = 202; initialDepth = 785.271137; finalDepth = 786.455112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 786.455112 # Seafloor depth: -836.455112 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.372414 meters # Minimum depth: 835.271137 meters looking forward 100.000000 meters along route # Maximum depth: 836.460512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.271137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804752; longitude = -118.642296; captureRadius = 10; duration = 202; initialDepth = 784.312062; finalDepth = 785.271137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.189375 # Actual altitude: 51.189375 # Commanded vehicle depth: 785.271137 # Seafloor depth: -836.460512 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 204.76; 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 = 204.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.336764 meters # Minimum depth: 834.312062 meters looking forward 100.000000 meters along route # Maximum depth: 835.217874 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 784.312062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805508; longitude = -118.641681; captureRadius = 10; duration = 204; initialDepth = 783.057678; finalDepth = 784.312062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.189375 # Actual altitude: 51.189375 # Commanded vehicle depth: 784.312062 # Seafloor depth: -835.217874 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 204.76; 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 = 204.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.407178 meters # Minimum depth: 833.057678 meters looking forward 100.000000 meters along route # Maximum depth: 834.302081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 783.057678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806271; longitude = -118.641060; captureRadius = 10; duration = 200; initialDepth = 781.105749; finalDepth = 783.057678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.244403 # Actual altitude: 51.244403 # Commanded vehicle depth: 783.057678 # Seafloor depth: -834.302081 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 204.98; 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 = 204.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 104.275713 meters # Minimum depth: 831.105749 meters looking forward 100.000000 meters along route # Maximum depth: 833.006123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 781.105749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807020; longitude = -118.640451; captureRadius = 10; duration = 208; initialDepth = 779.268010; finalDepth = 781.105749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9003740000001 # Actual altitude: 51.9003740000001 # Commanded vehicle depth: 781.105749 # Seafloor depth: -833.006123 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 207.60; 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 = 207.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.842331 meters # Minimum depth: 829.268010 meters looking forward 100.000000 meters along route # Maximum depth: 831.051460 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 779.268010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807798; longitude = -118.639818; captureRadius = 10; duration = 201; initialDepth = 779.206116; finalDepth = 779.268010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.9003740000001 # Actual altitude: 51.9003740000001 # Commanded vehicle depth: 779.26801 # Seafloor depth: -831.051460 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 207.60; 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 = 207.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.60; 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 1 # Segment length 82.214423 meters # Minimum depth: 829.206116 meters looking forward 100.000000 meters along route # Maximum depth: 830.640755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 779.206116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.808550; longitude = -118.639206; captureRadius = 10; duration = 164; # abortOnTimeout = True; initialDepth = 780.781580; finalDepth = 779.206116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.78345 # Actual altitude: 51.78345 # Commanded vehicle depth: 779.206116 # Seafloor depth: -829.206116 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 207.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 207.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.865041 meters # Minimum depth: 830.781580 meters looking forward 100.000000 meters along route # Maximum depth: 839.505386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 780.781580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.807830; longitude = -118.638994; captureRadius = 10; duration = 209; initialDepth = 787.448402; finalDepth = 780.781580; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 780.78158 # Seafloor depth: -830.781580 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.865082 meters # Minimum depth: 837.448402 meters looking forward 100.000000 meters along route # Maximum depth: 840.500736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 787.448402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806912; longitude = -118.638723; captureRadius = 10; duration = 209; initialDepth = 788.658798; finalDepth = 787.448402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.126633 # Actual altitude: 50.126633 # Commanded vehicle depth: 787.448402 # Seafloor depth: -837.575035 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.05; MB_Bottom_Detect_Filter_Max_Range = 200.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.865121 meters # Minimum depth: 838.658798 meters looking forward 100.000000 meters along route # Maximum depth: 842.567311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 788.658798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805994; longitude = -118.638452; captureRadius = 10; duration = 209; initialDepth = 790.264964; finalDepth = 788.658798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.044581 # Actual altitude: 51.044581 # Commanded vehicle depth: 788.658798 # Seafloor depth: -839.703379 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 204.18; 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 = 204.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.865162 meters # Minimum depth: 840.264964 meters looking forward 100.000000 meters along route # Maximum depth: 844.683880 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 790.264964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805076; longitude = -118.638182; captureRadius = 10; duration = 209; initialDepth = 792.736332; finalDepth = 790.264964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3651030000001 # Actual altitude: 51.3651030000001 # Commanded vehicle depth: 790.264964 # Seafloor depth: -841.630067 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; 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 1 # Segment length 104.865201 meters # Minimum depth: 842.736332 meters looking forward 100.000000 meters along route # Maximum depth: 845.945858 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 792.736332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804158; longitude = -118.637911; captureRadius = 10; duration = 209; initialDepth = 791.882859; finalDepth = 792.736332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3651030000001 # Actual altitude: 51.3651030000001 # Commanded vehicle depth: 792.736332 # Seafloor depth: -842.850244 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; 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 1 # Segment length 104.865242 meters # Minimum depth: 841.882859 meters looking forward 100.000000 meters along route # Maximum depth: 848.556736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 791.882859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803239; longitude = -118.637640; captureRadius = 10; duration = 209; initialDepth = 795.494289; finalDepth = 791.882859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.113912 # Actual altitude: 50.113912 # Commanded vehicle depth: 791.882859 # Seafloor depth: -841.882859 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.05; MB_Bottom_Detect_Filter_Max_Range = 200.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.865281 meters # Minimum depth: 845.494289 meters looking forward 100.000000 meters along route # Maximum depth: 849.769840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 795.494289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802321; longitude = -118.637370; captureRadius = 10; duration = 209; initialDepth = 799.692521; finalDepth = 795.494289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.171503 # Actual altitude: 53.171503 # Commanded vehicle depth: 795.494289 # Seafloor depth: -848.665792 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 212.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 212.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.865322 meters # Minimum depth: 849.692521 meters looking forward 100.000000 meters along route # Maximum depth: 854.841432 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 799.692521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801403; longitude = -118.637099; captureRadius = 10; duration = 209; initialDepth = 798.163160; finalDepth = 799.692521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.171503 # Actual altitude: 53.171503 # Commanded vehicle depth: 799.692521 # Seafloor depth: -849.692521 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 212.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 212.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.865362 meters # Minimum depth: 848.163160 meters looking forward 100.000000 meters along route # Maximum depth: 852.136892 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 798.163160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800485; longitude = -118.636828; captureRadius = 10; duration = 209; initialDepth = 799.525794; finalDepth = 798.163160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.953166 # Actual altitude: 53.953166 # Commanded vehicle depth: 798.16316 # Seafloor depth: -852.116326 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 215.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.58; MB_Bottom_Detect_Filter_Max_Range = 215.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.865401 meters # Minimum depth: 849.525794 meters looking forward 100.000000 meters along route # Maximum depth: 851.935710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 799.525794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799567; longitude = -118.636558; captureRadius = 10; duration = 209; initialDepth = 802.008153; finalDepth = 799.525794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.953166 # Actual altitude: 53.953166 # Commanded vehicle depth: 799.525794 # Seafloor depth: -849.525794 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 215.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.58; MB_Bottom_Detect_Filter_Max_Range = 215.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.865442 meters # Minimum depth: 852.008153 meters looking forward 100.000000 meters along route # Maximum depth: 854.220981 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 802.008153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798649; longitude = -118.636287; captureRadius = 10; duration = 209; initialDepth = 804.314178; finalDepth = 802.008153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 802.008153 # Seafloor depth: -852.008153 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.865482 meters # Minimum depth: 854.314178 meters looking forward 100.000000 meters along route # Maximum depth: 857.146008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 804.314178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797731; longitude = -118.636016; captureRadius = 10; duration = 209; initialDepth = 807.317847; finalDepth = 804.314178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.025786 # Actual altitude: 50.025786 # Commanded vehicle depth: 804.314178 # Seafloor depth: -854.339964 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.865521 meters # Minimum depth: 857.317847 meters looking forward 100.000000 meters along route # Maximum depth: 860.024986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 807.317847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796813; longitude = -118.635746; captureRadius = 10; duration = 209; initialDepth = 810.172006; finalDepth = 807.317847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.025786 # Actual altitude: 50.025786 # Commanded vehicle depth: 807.317847 # Seafloor depth: -857.317847 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.865562 meters # Minimum depth: 860.172006 meters looking forward 100.000000 meters along route # Maximum depth: 863.123344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 810.172006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795894; longitude = -118.635475; captureRadius = 10; duration = 209; initialDepth = 813.397329; finalDepth = 810.172006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 810.172006 # Seafloor depth: -860.172006 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.824510 meters # Minimum depth: 863.397329 meters looking forward 100.000000 meters along route # Maximum depth: 864.165055 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 838.652971 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 813.397329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794976; longitude = -118.635204; captureRadius = 10; duration = 205; initialDepth = 813.652971; finalDepth = 813.397329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 813.397329 # Seafloor depth: -863.397329 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 = 6; Log_Mode = 1; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 50.541151 # Sonar parameter altitude: 50.541151 # Commanded vehicle depth: 813.652971 # Seafloor depth: -864.194122 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 400.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; MB_Power = 220; 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; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 102.824510 meters # Minimum depth: 863.652971 meters looking forward 100.000000 meters along route # Maximum depth: 864.194122 meters looking forward 100.000000 meters along route # Vehicle depth: 813.652971 meters behavior waypoint { latitude = 33.794076; longitude = -118.634939; captureRadius = 10; duration = 406; depth = 813.652971; speed = 1.500000; } # # 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 813.652971 meters set by local depth and desired altitude behavior descend { duration = 2485; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; maxDepth = 804.194122; minAltitude = 50.000000; } # # 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 102.824510 meters # Minimum depth: 863.652971 meters looking forward 100.000000 meters along route # Maximum depth: 864.194122 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 33.794076; longitude = -118.634939; captureRadius = 10; duration = 1000; depth = 50.000000; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 347.084391; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 347.084391; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_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; } # ####################################################### ####################################################### ####################################################### #######################################################